Cozmo人工智能机器人SDK使用笔记（4）-任务部分cubes_and_objects

先简单总结一下使用笔记1-3：

1. 基础部分介绍了一些常用功能，比如运动控制、LED显示和扬声器交互等
2. 人机接口显示部分--输出，cozmo面部显示屏输出一些基本信息
3. 人机接口视觉部分--输入，cozmo摄像头获取环境信息并处理等

接着，就自然过渡到第四部分----立方体和物体任务部分，共有13个项目专题，非常有趣。

Cozmo环顾四周，找寻充电底座图标，然后行驶到附近，任务完成。

1. go to pose 

给定Cozmo目标位置和角度，然后行驶到对应位置和角度。

先设定目标，然后如果将relative_to_robot设置为true，就是相对量，当年机器人为原点，给定目标相对原点的距离和角度。

核心代码如下：

      def cozmo_program(robot: cozmo.robot.Robot):
       robot.go_to_pose(Pose(100, 100, 0, angle_z=degrees(45)), relative_to_robot=True).wait_for_completed()
  
 

2. create wall

虚拟墙，并绕过行驶到目标。

核心代码：

      import cozmo
      from cozmo.util import degrees, Pose
      def cozmo_program(robot: cozmo.robot.Robot):
       fixed_object = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
      10, 100, 100, relative_to_robot=True)
      if fixed_object:
       print("fixed_object created successfully")
       robot.go_to_pose(Pose(200, 0, 0, angle_z=degrees(0)), relative_to_robot=True).wait_for_completed()
      cozmo.run_program(cozmo_program, use_3d_viewer=True)
  
 

3. go to object 

Cozmo找到一个立方体（1-3皆可以），然后行驶到对应立方体附近。

      def go_to_object_test(robot: cozmo.robot.Robot):
      '''The core of the go to object test program'''
      # Move lift down and tilt the head up
       robot.move_lift(-3)
       robot.set_head_angle(degrees(0)).wait_for_completed()
      # look around and try to find a cube
       look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
       cube = None
      try:
       cube = robot.world.wait_for_observed_light_cube(timeout=30)
       print("Found cube: %s" % cube)
      except asyncio.TimeoutError:
       print("Didn't find a cube")
      finally:
      # whether we find it or not, we want to stop the behavior
       look_around.stop()
      if cube:
      # Drive to 70mm away from the cube (much closer and Cozmo
      # will likely hit the cube) and then stop.
       action = robot.go_to_object(cube, distance_mm(70.0))
       action.wait_for_completed()
       print("Completed action: result = %s" % action)
       print("Done.")
  
 

4. stack or roll

让Cozmo依据找到的立方体的数量执行不同的任务。

超时时间默认为10s，环顾四周，找寻立方体，根据数量进行操作：

0---恩，它很生气

1---翻滚立方体

2---堆叠立方体

      import cozmo
      def cozmo_program(robot: cozmo.robot.Robot):
       lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
       cubes = robot.world.wait_until_observe_num_objects(num=2, object_type=cozmo.objects.LightCube, timeout=10)
       print("Found %s cubes" % len(cubes))
       lookaround.stop()
      if len(cubes) == 0:
       robot.play_anim_trigger(cozmo.anim.Triggers.MajorFail).wait_for_completed()
      elif len(cubes) == 1:
       robot.run_timed_behavior(cozmo.behavior.BehaviorTypes.RollBlock, active_time=60)
      else:
       robot.run_timed_behavior(cozmo.behavior.BehaviorTypes.StackBlocks, active_time=60)
      cozmo.run_program(cozmo_program)
  
 

5. cube stack

Cozmo堆叠立方体。Cozmo将等到它看到两个立方体，然后拿起一个并将其放在另一个立方体上。它会拿起看到的第一个，然后把它放在第二个上。

      def cozmo_program(robot: cozmo.robot.Robot):
      # Attempt to stack 2 cubes
      # Lookaround until Cozmo knows where at least 2 cubes are:
       lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
       cubes = robot.world.wait_until_observe_num_objects(num=2, object_type=cozmo.objects.LightCube, timeout=60)
       lookaround.stop()
      if len(cubes) < 2:
       print("Error: need 2 Cubes but only found", len(cubes), "Cube(s)")
      else:
      # Try and pickup the 1st cube
       current_action = robot.pickup_object(cubes[0], num_retries=3)
       current_action.wait_for_completed()
      if current_action.has_failed:
       code, reason = current_action.failure_reason
       result = current_action.result
       print("Pickup Cube failed: code=%s reason='%s' result=%s" % (code, reason, result))
      return
      # Now try to place that cube on the 2nd one
       current_action = robot.place_on_object(cubes[1], num_retries=3)
       current_action.wait_for_completed()
      if current_action.has_failed:
       code, reason = current_action.failure_reason
       result = current_action.result
       print("Place On Cube failed: code=%s reason='%s' result=%s" % (code, reason, result))
      return
       print("Cozmo successfully stacked 2 blocks!")
  
 

6. pickup furthest

让Cozmo拿起最远的立方体。此实例演示对象位置姿态的简单数学运算。

(dst = translation.position.x ** 2 + translation.position.y ** 2)

机器人试图在视觉中找到三个立方体，可以在脚本打开的摄像头窗口中看到运行过程。每个立方体将显示轮廓和立方体编号。机器人等待直到找到3个立方体，然后尝试拿起最远的一个。

      import cozmo
      def cozmo_program(robot: cozmo.robot.Robot):
       lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
       cubes = robot.world.wait_until_observe_num_objects(num=3, object_type=cozmo.objects.LightCube, timeout=60)
       lookaround.stop()
       max_dst, targ = 0, None
      for cube in cubes:
       translation = robot.pose - cube.pose
       dst = translation.position.x ** 2 + translation.position.y ** 2
      if dst > max_dst:
       max_dst, targ = dst, cube
      if len(cubes) < 3:
       print("Error: need 3 Cubes but only found", len(cubes), "Cube(s)")
      else:
       robot.pickup_object(targ, num_retries=3).wait_for_completed()
      cozmo.run_program(cozmo_program, use_viewer=True)
  
 

7. look around

Cozmo环顾四周，做出反应，然后拿起并放下一个立方体。

      import asyncio
      import cozmo
      from cozmo.util import degrees
      def cozmo_program(robot: cozmo.robot.Robot):
       look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
      # try to find a block
       cube = None
      try:
       cube = robot.world.wait_for_observed_light_cube(timeout=30)
       print("Found cube", cube)
      except asyncio.TimeoutError:
       print("Didn't find a cube :-(")
      finally:
      # whether we find it or not, we want to stop the behavior
       look_around.stop()
      if cube is None:
       robot.play_anim_trigger(cozmo.anim.Triggers.MajorFail)
      return
       print("Yay, found cube")
       cube.set_lights(cozmo.lights.green_light.flash())
       anim = robot.play_anim_trigger(cozmo.anim.Triggers.BlockReact)
       anim.wait_for_completed()
       action = robot.pickup_object(cube)
       print("got action", action)
       result = action.wait_for_completed(timeout=30)
       print("got action result", result)
       robot.turn_in_place(degrees(90)).wait_for_completed()
       action = robot.place_object_on_ground_here(cube)
       print("got action", action)
       result = action.wait_for_completed(timeout=30)
       print("got action result", result)
       anim = robot.play_anim_trigger(cozmo.anim.Triggers.MajorWin)
       cube.set_light_corners(None, None, None, None)
       anim.wait_for_completed()
      cozmo.run_program(cozmo_program)
  
 

8. drive to charger 

让Cozmo行驶到充电底座附近。

      import asyncio
      import time
      import cozmo
      from cozmo.util import degrees, distance_mm, speed_mmps
      def drive_to_charger(robot):
      '''The core of the drive_to_charger program'''
      # If the robot was on the charger, drive them forward and clear of the charger
      if robot.is_on_charger:
      # drive off the charger
       robot.drive_off_charger_contacts().wait_for_completed()
       robot.drive_straight(distance_mm(100), speed_mmps(50)).wait_for_completed()
      # Start moving the lift down
       robot.move_lift(-3)
      # turn around to look at the charger
       robot.turn_in_place(degrees(180)).wait_for_completed()
      # Tilt the head to be level
       robot.set_head_angle(degrees(0)).wait_for_completed()
      # wait half a second to ensure Cozmo has seen the charger
       time.sleep(0.5)
      # drive backwards away from the charger
       robot.drive_straight(distance_mm(-60), speed_mmps(50)).wait_for_completed()
      # try to find the charger
       charger = None
      # see if Cozmo already knows where the charger is
      if robot.world.charger:
      if robot.world.charger.pose.is_comparable(robot.pose):
       print("Cozmo already knows where the charger is!")
       charger = robot.world.charger
      else:
      # Cozmo knows about the charger, but the pose is not based on the
      # same origin as the robot (e.g. the robot was moved since seeing
      # the charger) so try to look for the charger first
      pass
      if not charger:
      # Tell Cozmo to look around for the charger
       look_around = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
      try:
       charger = robot.world.wait_for_observed_charger(timeout=30)
       print("Found charger: %s" % charger)
      except asyncio.TimeoutError:
       print("Didn't see the charger")
      finally:
      # whether we find it or not, we want to stop the behavior
       look_around.stop()
      if charger:
      # Attempt to drive near to the charger, and then stop.
       action = robot.go_to_object(charger, distance_mm(65.0))
       action.wait_for_completed()
       print("Completed action: result = %s" % action)
       print("Done.")
      cozmo.robot.Robot.drive_off_charger_on_connect = False  # Cozmo can stay on charger for now
      cozmo.run_program(drive_to_charger, use_viewer=True, force_viewer_on_top=True)
  
 

9. custom objects

自定义对象，包括大小和形状等。

      import time
      import cozmo
      from cozmo.objects import CustomObject, CustomObjectMarkers, CustomObjectTypes
      def handle_object_appeared(evt, **kw):
      # This will be called whenever an EvtObjectAppeared is dispatched -
      # whenever an Object comes into view.
      if isinstance(evt.obj, CustomObject):
       print("Cozmo started seeing a %s" % str(evt.obj.object_type))
      def handle_object_disappeared(evt, **kw):
      # This will be called whenever an EvtObjectDisappeared is dispatched -
      # whenever an Object goes out of view.
      if isinstance(evt.obj, CustomObject):
       print("Cozmo stopped seeing a %s" % str(evt.obj.object_type))
      def custom_objects(robot: cozmo.robot.Robot):
      # Add event handlers for whenever Cozmo sees a new object
       robot.add_event_handler(cozmo.objects.EvtObjectAppeared, handle_object_appeared)
       robot.add_event_handler(cozmo.objects.EvtObjectDisappeared, handle_object_disappeared)
      # define a unique cube (44mm x 44mm x 44mm) (approximately the same size as a light cube)
      # with a 30mm x 30mm Diamonds2 image on every face
       cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
       CustomObjectMarkers.Diamonds2,
      44,
      30, 30, True)
      # define a unique cube (88mm x 88mm x 88mm) (approximately 2x the size of a light cube)
      # with a 50mm x 50mm Diamonds3 image on every face
       big_cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType01,
       CustomObjectMarkers.Diamonds3,
      88,
      50, 50, True)
      # define a unique wall (150mm x 120mm (x10mm thick for all walls)
      # with a 50mm x 30mm Circles2 image on front and back
       wall_obj = robot.world.define_custom_wall(CustomObjectTypes.CustomType02,
       CustomObjectMarkers.Circles2,
      150, 120,
      50, 30, True)
      # define a unique box (60mm deep x 140mm width x100mm tall)
      # with a different 30mm x 50mm image on each of the 6 faces
       box_obj = robot.world.define_custom_box(CustomObjectTypes.CustomType03,
       CustomObjectMarkers.Hexagons2,  # front
       CustomObjectMarkers.Circles3,   # back
       CustomObjectMarkers.Circles4,   # top
       CustomObjectMarkers.Circles5,   # bottom
       CustomObjectMarkers.Triangles2, # left
       CustomObjectMarkers.Triangles3, # right
      60, 140, 100,
      30, 50, True)
      if ((cube_obj is not None) and (big_cube_obj is not None) and
       (wall_obj is not None) and (box_obj is not None)):
       print("All objects defined successfully!")
      else:
       print("One or more object definitions failed!")
      return
       print("Show the above markers to Cozmo and you will see the related objects "
      "annotated in Cozmo's view window, you will also see print messages "
      "everytime a custom object enters or exits Cozmo's view.")
       print("Press CTRL-C to quit")
      while True:
       time.sleep(0.1)
      cozmo.run_program(custom_objects, use_3d_viewer=True, use_viewer=True)
  
 

10. object moving

检测移动立方体并实时跟踪其速度等。

      import time
      import cozmo
      def handle_object_moving_started(evt, **kw):
      # This will be called whenever an EvtObjectMovingStarted event is dispatched -
      # whenever we detect a cube starts moving (via an accelerometer in the cube)
       print("Object %s started moving: acceleration=%s" %
       (evt.obj.object_id, evt.acceleration))
      def handle_object_moving(evt, **kw):
      # This will be called whenever an EvtObjectMoving event is dispatched -
      # whenever we detect a cube is still moving a (via an accelerometer in the cube)
       print("Object %s is moving: acceleration=%s, duration=%.1f seconds" %
       (evt.obj.object_id, evt.acceleration, evt.move_duration))
      def handle_object_moving_stopped(evt, **kw):
      # This will be called whenever an EvtObjectMovingStopped event is dispatched -
      # whenever we detect a cube stopped moving (via an accelerometer in the cube)
       print("Object %s stopped moving: duration=%.1f seconds" %
       (evt.obj.object_id, evt.move_duration))
      def cozmo_program(robot: cozmo.robot.Robot):
      # Add event handlers that will be called for the corresponding event
       robot.add_event_handler(cozmo.objects.EvtObjectMovingStarted, handle_object_moving_started)
       robot.add_event_handler(cozmo.objects.EvtObjectMoving, handle_object_moving)
       robot.add_event_handler(cozmo.objects.EvtObjectMovingStopped, handle_object_moving_stopped)
      # keep the program running until user closes / quits it
       print("Press CTRL-C to quit")
      while True:
       time.sleep(1.0)
      cozmo.robot.Robot.drive_off_charger_on_connect = False  # Cozmo can stay on his charger for this example
      cozmo.run_program(cozmo_program)
  
 

11. dock with cube

行驶到立方体附近，并对接立方体，但是并不拿起立方体。

      import cozmo
      from cozmo.util import degrees
      async def dock_with_cube(robot: cozmo.robot.Robot):
      await robot.set_head_angle(degrees(-5.0)).wait_for_completed()
       print("Cozmo is waiting until he sees a cube.")
       cube = await robot.world.wait_for_observed_light_cube()
       print("Cozmo found a cube, and will now attempt to dock with it:")
      # Cozmo will approach the cube he has seen
      # using a 180 approach angle will cause him to drive past the cube and approach from the opposite side
      # num_retries allows us to specify how many times Cozmo will retry the action in the event of it failing
       action = robot.dock_with_cube(cube, approach_angle=cozmo.util.degrees(180), num_retries=2)
      await action.wait_for_completed()
       print("result:", action.result)
      cozmo.run_program(dock_with_cube)
  
 

12. roll cube

翻滚立方体。

      import cozmo
      from cozmo.util import degrees
      async def roll_a_cube(robot: cozmo.robot.Robot):
      await robot.set_head_angle(degrees(-5.0)).wait_for_completed()
       print("Cozmo is waiting until he sees a cube")
       cube = await robot.world.wait_for_observed_light_cube()
       print("Cozmo found a cube, and will now attempt to roll with it:")
      # Cozmo will approach the cube he has seen and roll it
      # check_for_object_on_top=True enforces that Cozmo will not roll cubes with anything on top
       action = robot.roll_cube(cube, check_for_object_on_top=True, num_retries=2)
      await action.wait_for_completed()
       print("result:", action.result)
      cozmo.run_program(roll_a_cube)
  
 

13. pop a wheelie

借助立方体，将Cozmo身体直立起来。

      import cozmo
      async def pop_a_wheelie(robot: cozmo.robot.Robot):
       print("Cozmo is waiting until he sees a cube")
       cube = await robot.world.wait_for_observed_light_cube()
       print("Cozmo found a cube, and will now attempt to pop a wheelie on it")
       action = robot.pop_a_wheelie(cube, num_retries=2)
      await action.wait_for_completed()
      cozmo.run_program(pop_a_wheelie)
  
 

Fin

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/86626580