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Commented Sample Exps.py
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Commented Sample Exps.py
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# Robot.Play Animation Behavior
"""
anim = robot.play_anim_trigger(cozmo.anim.Triggers.AskToBeRightedRight)
anim.wait_for_completed()
anim = robot.play_anim_trigger(cozmo.anim.Triggers.AudioTestAnim)
anim.wait_for_completed()"""
"""import time
import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
cozmo.run_program(cozmo_program)"""
# anim Robot Play Trigger Behavior
"""import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
anim = robot.play_anim_trigger(cozmo.anim.Triggers.GuardDogFakeout)
anim.wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.say_text("and, most importantly. Ponder into Wonder! Be creative! and Have lots of fun learning how to create special effects videos with Cozmo's younger brother, Cozmo!").wait_for_completed()
cozmo.run_program(cozmo_program)"""
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BlockReact)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.AudioTestAnim)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerGetOut)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerGetIn)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerIdeaToPlay)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerIntoScore1)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerIntoScore2)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerIntoScore3)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerRequestToPlay)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerTimeout)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BouncerWait)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidFirstBlockOnSide)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidFirstBlockUpright)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidLookForFace)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidReactToBase)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidSecondBlockOnSide)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidSecondBlockUpright)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidSuccess)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.BuildPyramidThankUser)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.AudioTestAnim)
# anim = robot.play_anim_trigger(cozmo.anim.Triggers.AskToBeRightedRight)
# anim.wait_for_completed()
# Robot Start Behavior
"""import time
import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.start_behavior(cozmo.behavior.BehaviorTypes.RollBlock).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.StackBlocks).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace).wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.say_text("Test Emotion", play_excited_animation=False).wait_for_completed()
cozmo.run_program(cozmo_program)"""
# Example Drive and Turn #1
"""import cozmo
import time
from cozmo.util import degrees, distance_mm, speed_mmps
def cozmo_program(robot: cozmo.robot.Robot):
robot.drive_straight(distance_mm(200), speed_mmps(30)).wait_for_completed()
robot.turn_in_place(degrees(90),speed=degrees(30)).wait_for_completed()
cozmo.run_program(cozmo_program)"""
# robot.drive_straight(distance_mm(150), speed_mmps(30)).wait_for_completed()
# robot.turn_in_place(degrees(90)).wait_for_completed()
# robot.drive_straight(distance_mm(200), speed_mmps(50)).wait_for_completed()
# robot.turn_in_place(degrees(90),speed=degrees(50)).wait_for_completed()
# robot.turn_in_place(degrees(90)).wait_for_completed()
# AcknowledgeFaceNamed
# AcknowledgeFaceUnnamed
"""Robot Behavior Triggers"""
# AcknowledgeFaceNamed
# AcknowledgeFaceUnnamed
# AudioTestAnim
""" robot.play_anim_trigger examples:"""
# robot.play_anim_trigger(cozmo.anim.Triggers.MajorFail)
"""Head and Lift Movement"""
# robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE).wait_for_completed()
# robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed()
# class cozmo.robot.SetHeadAngle(angle, max_speed, accel, duration, warn_on_clamp, **kw)
# accel = None, duration = None, max_speed = None
# robot.move_head(-1), robot.move_lift(-1)
# class cozmo.robot.SetLiftHeight(height, max_speed, accel, duration, **kw)
# accel = None, duration = None, max_speed = None
# cozmo.objects.LightCubeIDs = [1, 2, 3]
"""Example Behavior #1
import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.play_anim_trigger(cozmo.anim.Triggers.AcknowledgeFaceUnnamed).wait_for_completed()
cozmo.run_program(cozmo_program)
import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_head_light(True)
robot.say_text("yeah, I did it!", play_excited_animation=True).wait_for_completed()
cozmo.run_program(cozmo_program)
Example Behavior #2
import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
cozmo.run_program(cozmo_program)"""
# Cube and Backpack Light Color Loop
"""import time
import cozmo
from cozmo.objects import LightCube1Id, LightCube2Id, LightCube3Id
def cozmo_program(robot: cozmo.robot.Robot):
for i in range(1000):
cube1 = robot.world.get_light_cube(LightCube1Id)
cube2 = robot.world.get_light_cube(LightCube2Id)
cube3 = robot.world.get_light_cube(LightCube3Id)
robot.set_all_backpack_lights(cozmo.lights.blue_light)
cube1.set_lights(cozmo.lights.blue_light)
time.sleep(.2)
cube1.set_lights(cozmo.lights.off_light)
robot.set_all_backpack_lights(cozmo.lights.red_light)
cube2.set_lights(cozmo.lights.red_light)
time.sleep(.2)
cube2.set_lights(cozmo.lights.off_light)
robot.set_all_backpack_lights(cozmo.lights.green_light)
cube3.set_lights(cozmo.lights.green_light)
time.sleep(.2)
robot.set_all_backpack_lights(cozmo.lights.off_light)
cube3.set_lights(cozmo.lights.off_light)
cozmo.run_program(cozmo_program)"""
"""import cozmo
import time
def light(robot: cozmo.robot.Robot):
for _ in range(2):
robot.set_all_backpack_lights(cozmo.lights.blue_light)
robot.say_text("Blue Light").wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.green_light)
robot.say_text("Green Light").wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.red_light)
robot.say_text("Red Light").wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.blue_light)
robot.say_text("Blue Light").wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.red_light)
robot.say_text("all systems checked").wait_for_completed()
cozmo.run_program(light)
def cozmo_program(robot: cozmo.robot.Robot):
robot.say_text("Loop is finished, exicution is complete").wait_for_completed()
cozmo.run_program(cozmo_program)"""
# cube1.set_light_corners(cozmo.lights.off_light, cozmo.lights.off_light, cozmo.lights.off_light, cozmo.lights.off_light)
""" import cozmo
from cozmo.util import degrees, distance_mm, speed_mmps
def cozmo_program(robot: cozmo.robot.Robot):
for _ in range(3):
robot.set_all_backpack_lights(cozmo.lights.red_light)
robot.drive_straight(distance_mm(300), speed_mmps(10)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.blue_light)
robot.turn_in_place(degrees(90)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.red_light)
robot.drive_straight(distance_mm(110), speed_mmps(10)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.blue_light)
robot.turn_in_place(degrees(90)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.red_light)
robot.drive_straight(distance_mm(300), speed_mmps(10)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.blue_light)
robot.turn_in_place(degrees(90)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.red_light)
robot.drive_straight(distance_mm(110), speed_mmps(10)).wait_for_completed()
robot.set_all_backpack_lights(cozmo.lights.blue_light)
robot.turn_in_place(degrees(90)).wait_for_completed()
cozmo.run_program(cozmo_program)
import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.say_text("Error! Error! Exterminait! Exterminait! Exterminait! Error! Error!").wait_for_completed()
cozmo.run_program(cozmo_program)
robot.turn_in_place(degrees(-90)).wait_for_completed()
robot.drive_straight(distance_mm(150), speed_mmps(10)).wait_for_completed()"""
"""import cozmo
from cozmo.util import degrees, distance_mm, speed_mmps
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE).wait_for_completed()
robot.set_head_angle(cozmo.robot.MIN_HEAD_ANGLE).wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""import cozmo
import time
def cozmo_program(robot: cozmo.robot.Robot): robot.move_head(-1)
robot.move_lift(-1)
robot.drive_wheels(50, 25)
time.sleep(3)
robot.move_head(1)
robot.move_lift(1)
robot.drive_wheels(50, -50)
time.sleep(3)
cozmo.run_program(cozmo_program)"""
"""set_lift_height takes in a “height (float) – desired height for Cozmo’s lift 0.0 (bottom) to 1.0 (top) (we clamp it to this range internally).” - so because it’s already in 0 to 1 space you don’t generally need additional constants:
http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.Robot.set_lift_height2
There is also a LiftPosition class which lets you convert between lift position as a distance (in millimeters) above the ground, the 0 to 1 ratio, and the angle in degrees of the lift arm (as technically the lift arm rotates when lifting up / down.):
http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.LiftPosition
You can also see the ranges for the non-ratio lift values here:
http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.MIN_LIFT_HEIGHT
So, the simplest equivalent for the example in your question is:
robot.set_lift_height(1.0).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
and to e.g. set it halfway up you’d just do:
robot.set_lift_height(0.5).wait_for_completed()"""
"""You can call wait_for_completed later (after you’ve started the actions running in parallel)
E.g:
robot.set_lift_height(1.0).wait_for_completed()
Is the same as writing:
# don't wait yet, just start the action and keep a reference to it
my_lift_action = robot.set_lift_height(1.0)
# ... do any other work you want to do...
# now wait on the action
my_lift_action.wait_for_completed()
So you can do e.g:
# don't wait yet, just start the action and keep a reference to it
my_lift_action = robot.set_lift_height(1.0)
my_head_action = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, in_parallel=True)
# Now that they're both running together in parallel, wait for both of them
my_lift_action.wait_for_completed()
my_head_action.wait_for_completed()
There’s also a helper method wait_for_all_actions_completed:
http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.Robot.wait_for_all_actions_completed1
so you can simplify the above to just this if you want:
robot.set_lift_height(1.0)
robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, in_parallel=True)
# Now that they're both running together in parallel, wait for everything
robot.wait_for_all_actions_completed()"""
"""Can I make cozmo see and pick only the cube, I want, with Actions?
Yes - see the documentation here: http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.Robot.pickup_object3
(You pass in the object that you want Cozmo to pickup)."""
"""You can call wait_for_completed later (after you’ve started the actions running in parallel)
E.g:
robot.set_lift_height(1.0).wait_for_completed()
Is the same as writing:
# don't wait yet, just start the action and keep a reference to it
my_lift_action = robot.set_lift_height(1.0)
# ... do any other work you want to do...
# now wait on the action
my_lift_action.wait_for_completed()
So you can do e.g:
# don't wait yet, just start the action and keep a reference to it
my_lift_action = robot.set_lift_height(1.0)
my_head_action = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, in_parallel=True)
# Now that they're both running together in parallel, wait for both of them
my_lift_action.wait_for_completed()
my_head_action.wait_for_completed()
There’s also a helper method wait_for_all_actions_completed:
http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.Robot.wait_for_all_actions_completed
so you can simplify the above to just this if you want:
robot.set_lift_height(1.0)
robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE, in_parallel=True)
# Now that they're both running together in parallel, wait for everything
robot.wait_for_all_actions_completed()"""
# pickup_object(obj, use_pre_dock_pose=True, in_parallel=False, num_retries=0)
"""Yes - see the documentation here: http://cozmosdk.anki.com/docs/generated/cozmo.robot.html#cozmo.robot.Robot.pickup_object
(You pass in the object that you want Cozmo to pickup)."""
"""import time
import cozmo
from cozmo.util import degrees, distance_mm, speed_mmps
def cozmo_program(robot: cozmo.robot.Robot):
robot.drive_straight(distance_mm(200), speed_mmps(50)).wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""robot.play_anim_trigger(cozmo.anim.Triggers.ReactToPokeStartled).wait_for_completed()
robot.play_anim_trigger(cozmo.anim.Triggers.MajorFail).wait_for_completed()""
"""
"""import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
anim = robot.play_anim_trigger(cozmo.anim.Triggers.AudioTestAnim)
anim.wait_for_completed()
cozmo.run_program(cozmo_program)
anim = robot.play_anim_trigger(cozmo.anim.Triggers.AskToBeRightedRight)
anim.wait_for_completed()"""
"""import cozmo
def cozmo_program(robot: cozmo.robot.Robot):
robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.RollBlock).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.StackBlocks).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.RollBlock).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace).wait_for_completed()
robot.start_behavior(cozmo.behavior.BehaviorTypes.StackBlocks).wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""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=1, object_type=cozmo.objects.LightCube, timeout=1000)
lookaround.stop()
robot.pickup_object(cubes[0]).wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""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=60)
lookaround.stop()
robot.pickup_object(cubes[1]).wait_for_completed()
robot.place_on_object(cubes[2]).wait_for_completed()
cozmo.run_program(cozmo_program)"""
"""import cozmo
import time
from cozmo.objects import LightCube1Id, LightCube2Id, LightCube3Id
def light(robot: cozmo.robot.Robot):
cube1 = robot.world.get_light_cube(LightCube1Id)
cube2 = robot.world.get_light_cube(LightCube2Id)
cube3 = robot.world.get_light_cube(LightCube3Id)
for i in range(10):
robot.set_all_backpack_lights(cozmo.lights.blue_light)
cube1.set_light_corners(cozmo.lights.green_light, cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.blue_light)
cube2.set_light_corners(cozmo.lights.green_light, cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.blue_light)
cube3.set_light_corners(cozmo.lights.green_light, cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.blue_light)
time.sleep(.1)
robot.set_all_backpack_lights(cozmo.lights.green_light)
cube1.set_light_corners(cozmo.lights.blue_light, cozmo.lights.green_light, cozmo.lights.blue_light, cozmo.lights.blue_light)
cube2.set_light_corners(cozmo.lights.blue_light, cozmo.lights.green_light, cozmo.lights.blue_light, cozmo.lights.blue_light)
cube3.set_light_corners(cozmo.lights.blue_light, cozmo.lights.green_light, cozmo.lights.blue_light, cozmo.lights.blue_light)
time.sleep(.1)
robot.set_all_backpack_lights(cozmo.lights.blue_light)
cube1.set_light_corners(cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.green_light, cozmo.lights.blue_light)
cube2.set_light_corners(cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.green_light, cozmo.lights.blue_light)
cube3.set_light_corners(cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.green_light, cozmo.lights.blue_light)
time.sleep(.1)
robot.set_all_backpack_lights(cozmo.lights.green_light)
cube1.set_light_corners(cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.green_light)
cube2.set_light_corners(cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.green_light)
cube3.set_light_corners(cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.blue_light, cozmo.lights.green_light)
time.sleep(.1)
cozmo.run_program(light) """
"""import cozmo
async def cozmo_program(robot: cozmo.robot.Robot):
robot.world.disconnect_from_cubes()
cozmo.robot.Robot.drive_off_charger_on_connect = False
cozmo.run_program(cozmo_program)"""
"""import cozmo
async def cozmo_program(robot: cozmo.robot.Robot):
await robot.world.connect_to_cubes()
cozmo.robot.Robot.drive_off_charger_on_connect = False
cozmo.run_program(cozmo_program)"""
"""has_picked_up_cube = False
# Keep trying the pickup code until successful
while not has_picked_up_cube:
pickup_action = robot.pickup_object(cube1, num_retries=5)
pickup_action.wait_for_completed()
if pickup_action.has_succeeded:
# Yay - success!
has_picked_up_cube = True
else:
# it failed!
code, reason = pickup_action.failure_reason
result = pickup_action.result
print("Pickup Cube failed: code=%s reason='%s' result=%s" % (code, reason, result))
if not cube1.pose.is_accurate:
# Cozmo doesn't know exactly where cube1 is - try looking for it again...
# You'd need to add your own code here to look around until cube1 is found
pass"""
""" has_picked_up_cube = False
while not has_picked_up_cube:
pickup_action = robot.pickup_object(cube1, num_retries=5)
pickup_action.wait_for_completed()
if pickup_action.has_succeeded:
has_picked_up_cube = True
else:
code, reason = pickup_action.failure_reason
result = pickup_action.result
if not cube1.pose.is_accurate:
pass
"""cubes = robot.world.wait_until_observe_num_objects(num=1, object_type=cozmo.objects.LightCube, timeout=60)
robot.pickup_object(cube1).wait_for_completed()"""
"""cubes = robot.world.wait_until_observe_num_objects(num=1, object_type=cozmo.objects.LightCube, timeout=60)
robot.pickup_object(cube3).wait_for_completed()"""
# cube1.set_lights(cozmo.lights.white_light)
# cube1.set_light_corners(light1, light2, light3, light4)
# cube1.set_light_corners(cozmo.lights.green_light, cozmo.lights.red_light, cozmo.lights.blue_light, cozmo.lights.off_light)
# cozmo.robot.PickupObject
# cozmo.robot.PlaceOnObject
# cozmo.exceptions.NotPickupable
# cozmo.robot.PlaceObjectOnGroundHere
# cozmo.exceptions.CannotPlaceObjectsOnThis
# place_object_on_ground_here(obj, in_parallel=False, num_retries=0)
# place_on_object(obj, use_pre_dock_pose=True, in_parallel=False, num_retries=0)
# place_object_on_ground_here(obj, in_parallel=False, num_retries=0)
# place_object_on_ground_here_factory = functools.partial(<class 'cozmo.robot.PlaceObjectOnGroundHere'>, loop=None)
# place_on_object_factory = functools.partial(<class 'cozmo.robot.PlaceOnObject'>, loop=None)
# pickup_object_factory = functools.partial(<class 'cozmo.robot.PickupObject'>, loop=None)
# pickup_object(obj, use_pre_dock_pose=True, in_parallel=False, num_retries=0)
# class cozmo.robot.RollCube(obj, approach_angle, check_for_object_on_top, **kw)
# class cozmo.robot.PickupObject(obj, use_pre_dock_pose=True, **kw)
# class cozmo.robot.PlaceObjectOnGroundHere(obj, **kw)
# class cozmo.robot.PlaceOnObject(obj, use_pre_dock_pose=True, **kw)
# class cozmo.objects.ObservableObject(conn, world, object_id=None, **kw)
# class cozmo.objects.LightCube(cube_id, *a, **kw)
# pickup_object()
# roll_cube()
# obj = None
# obj.pickupable
# obj (cozmo.objects.ObservableObject)
# use_pre_dock_pose = None
# descriptive_name
# object_id
# cube_id
# pickupable = False
# place_objects_on_this = False
# say_text(text, play_excited_animation=False, use_cozmo_voice=True, duration_scalar=1.0, voice_pitch=0.0, in_parallel=False, num_retries=0)