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COZMO_MAC.md

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CozmoLetsRobot

Host Anki Cozmo on LetsRobot.tv

Pre-setup

install socketIO-client for python3

pip3 install socketIO-client configparser

Setup instructions:

Setup the Cozmo SDK on your computer using their instructions:

Clone Nocturnal's fork of the runmyrobot scripts:

Edit runmyrobot/letsrobot.sample.conf:

  • Enter your owner, robot_id, camera_id from LetsRobot.tv
  • change [robot] type=none to type=cozmo
  • change [tts] type=none to type=cozmo_tts
  • change [ffmpeg] type=ffmpeg to type=none
  • Save file as letsrobot.conf

Extra Mac setup instructions:

install ffmpeg:

brew install ffmpeg

Starting Cozmo:

  • Using the Cozmo app enter SDK mode and connect your mobile device to the host machine.
  • Execute the LetsRobot controller using python3 controller.py
  • For audio streaming execute python send_video.py YOURCAMERAID 0 --no-camera &

Update the Let's Robot robot configuration to have these custom controls:

Please see Customizing Your UI for more help

[  
   {  
      "button_panels":[  
         {  
            "button_panel_label":"movement controls",
            "buttons":[  
               {  
                  "label":"Left",
                  "command":"L"
               },
               {  
                  "label":"Right",
                  "command":"R"
               },
               {  
                  "label":"Forward",
                  "command":"F"
               },
               {  
                  "label":"Backward",
                  "command":"B"
               },
               {  
                  "label":"LookUp",
                  "command":"Q"
               },
               {  
                  "label":"LookDown",
                  "command":"A"
               },
               {  
                  "label":"LiftUp",
                  "command":"W"
               },
               {  
                  "label":"LiftDown",
                  "command":"S"
               },
               {  
                  "label":"LightToggle",
                  "command":"V"
               }
            ]
         },
         {  
            "button_panel_label":"animation controls",
            "buttons":[  
               {  
                  "label":"drat",
                  "command":"0"
               },
               {  
                  "label":"giggle",
                  "command":"1"
               },
               {  
                  "label":"wow",
                  "command":"2"
               },
               {  
                  "label":"tick tock",
                  "command":"3"
               },
               {  
                  "label":"ping pong",
                  "command":"4"
               },
               {  
                  "label":"meow",
                  "command":"5"
               },
               {  
                  "label":"wufwuf",
                  "command":"6"
               },
               {  
                  "label":"lookup",
                  "command":"7"
               },
               {  
                  "label":"excite",
                  "command":"8"
               },
               {  
                  "label":"backup",
                  "command":"9"
               }
            ]
         },
         {  
            "button_panel_label":"say something cute",
            "buttons":[  
               {  
                  "label":"hello",
                  "command":"sayhi"
               },
               {  
                  "label":"watch this",
                  "command":"saywatch"
               },
               {  
                  "label":"love you",
                  "command":"saylove"
               },
               {  
                  "label":"bye",
                  "command":"saybye"
               },
               {  
                  "label":"happy",
                  "command":"sayhappy"
               },
               {  
                  "label":"sad",
                  "command":"saysad"
               },
               {  
                  "label":"howru",
                  "command":"sayhowru"
               }
            ]
         },
         {  
            "button_panel_label":"more fun stuff",
            "buttons":[  
               {  
                  "label":"singsong",
                  "command":"singsong",
                  "premium":true,
                  "price":1000000
               },
               {  
                  "label":"lightcubes",
                  "command":"lightcubes",
                  "premium":true,
                  "price":0
               },
               {  
                  "label":"dimcubes",
                  "command":"dimcubes",
                  "premium":true,
                  "price":0
               }
            ]
         }
      ]
   }
]

Cozmo Chat Commands

In addition to the standard chat commands, Cozmo has several specific chat commands available to the owner. You can type these into the chat box on the robot page.

  • .anim NAME this will play the NAME animation.
  • .forward_speed ### this will allow you to adjust how fast Cozmo moves forward / backwards.
  • .turn_speed ### this will adjust how far Cozmo turns left and right.
  • .vol ### This turns Cozmos volume up or down [0...100].
  • `.charge X' If Cozmo is on the dock, force the changin g state. If Cozmo is off the dock, mark the charging state to start as soon as Cozmo docks [on|off].
  • .stay X Set Cozmo to stay locked in the dock, regardless of charge state [on|off].
  • .annotate Enable / Disable the annotated view, to see what Cozmo is seeing.
  • .color or .colour Enable / Disable colour. Colour reduces the resolution of the video.

Note for audio streaming on MacOS:

The startAudioCaptureLinux function in send_video.py calls ffmpeg with alsa input. If you want to stream audio from your mac use -f avfoundation -i ":0" in place of -f alsa -ar 44100 -ac %d -i hw:%d.

For example:

audioCommandLine = '/usr/local/bin/ffmpeg -f avfoundation -i ":0" -f mpegts -codec:a mp2 -b:a 128k -muxdelay 0.001 http://%s:%s/%s/640/480/' % (audioHost, audioPort, robotSettings.stream_key)