Cozmo Off-Board Functions¶
Cozmo mobile application resources consist of:
- audio files
- animations
- animation group descriptions
- behaviors
- reaction triggers
- emotions
- activities
- text-to-speech models
Robot firmware images are also distributed as part of the app resources.
Directory structure¶
cozmo_resources/
assets/
animationGroupMaps/
animationGroups/
animations/
cubeAnimationGroupMaps/
faceAnimations/
RewardedActions/
config/
engine/
animations/
behaviorSystem/
activities/
behaviors/
emotionevents/
firmware/
lights/
backpackLights/
cubeLights/
sound/
English(US)
tts/
Animations¶
Cozmo “animations” allow animating the following aspects of the robot:
- body movement
- lift movement
- head movement
- face images
- backpack LED animations
- audio
Cozmo animations are series of keyframes, stored in binary files in FlatBuffers
format. Animation data structures are declared in FlatBuffers format in
files/cozmo/cozmo_resources/config/cozmo_anim.fbs . The animation files are available in the following directory of
the Android mobile application:
files/cozmo/cozmo_resources/assets/animations
Face images are generated procedurally. They are described by 43 parameters - 5 for the face and 19 for each eye. The face as a whole can be translated, scaled, and rotated. Each individual eye can be translated, scaled, and rotated. The 4 corners of each eye can be controlled and each eye has a lower and upper lid.
The following presentation from Anki provides some background information on Cozmo animations:
Animation groups¶
Animation groups are sets of animations with the same purpose.
Behaviors¶
Behaviors can be thought of as small applications that perform a specific function using the robot client API.
Reactions¶
Reactions map robot events to behaviors.
Emotions¶
Emotions are modeled as value functions that change in one of the following ways:
- over time, driven by a decay function
- as a result of reactions
- as a result of behaviors
Activities¶
Activities are sets of behaviors with a rule how to choose