pycozmo.anim_encoder¶

Reading and writing of Cozmo animations in FlatBuffers (.bin) and JSON format.

Cozmo animations are stored in files/cozmo/cozmo_resources/assets/animations inside the Cozmo mobile application.

Animation data structures are declared in FlatBuffers format in files/cozmo/cozmo_resources/config/cozmo_anim.fbs .

Functions

get_clip_metadata(dspec) Retrieve clip metadata from animation FlatBuffers .bin files.

Classes

`AnimBackpackLights`(trigger_time_ms, …)	Backpack lights keyframe class.
`AnimBase`()	Animation element base class.
`AnimBodyMotion`(trigger_time_ms, duration_ms, …)	Body motion keyframe class.
`AnimClip`(name, keyframes)	Animation clip class.
`AnimClips`(clips)	Animation clips class.
`AnimEvent`(trigger_time_ms, event_id)	Event keyframe class.
`AnimFaceAnimation`(trigger_time_ms, anim_name)	Face animation keyframe class.
`AnimHeadAngle`(trigger_time_ms, duration_ms, …)	Head angle keyframe class.
`AnimKeyframe`()	Animation keyframe base class.
`AnimLiftHeight`(trigger_time_ms, duration_ms, …)	Lift height keyframe class.
`AnimLight`(red, green, blue, ir)	Light color class.
`AnimProceduralFace`(trigger_time_ms, angle, …)	Procedural face keyframe class.
`AnimRecordHeading`(trigger_time_ms)	Record heading keyframe class.
`AnimRobotAudio`(trigger_time_ms, …)	Robot audio keyframe class.
`AnimTurnToRecordedHeading`(trigger_time_ms, …)	Turn-to-recorded-heading keyframe class.
`ClipMetadata`(fspec, index, name, …)	Animation clip metadata class.

class pycozmo.anim_encoder.AnimBase¶

Bases: abc.ABC

Animation element base class.

classmethod from_dict(data)¶

classmethod from_fb(buf)¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimClip(name: str, keyframes: Iterable[pycozmo.anim_encoder.AnimKeyframe] = ())¶

Bases: pycozmo.anim_encoder.AnimBase

Animation clip class.

classmethod from_dict(data: dict) → pycozmo.anim_encoder.AnimClip¶

classmethod from_fb(fbclip: pycozmo.CozmoAnim.AnimClip.AnimClip) → pycozmo.anim_encoder.AnimClip¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimClips(clips: Iterable[pycozmo.anim_encoder.AnimClip] = ())¶

Bases: pycozmo.anim_encoder.AnimBase

Animation clips class.

classmethod from_dict(data: dict) → pycozmo.anim_encoder.AnimClips¶

classmethod from_fb(fbclips: pycozmo.CozmoAnim.AnimClips.AnimClips) → pycozmo.anim_encoder.AnimClips¶

classmethod from_fb_file(fspec: str) → pycozmo.anim_encoder.AnimClips¶

classmethod from_fb_stream(f: BinaryIO) → pycozmo.anim_encoder.AnimClips¶

classmethod from_json_file(fspec: str) → pycozmo.anim_encoder.AnimClips¶

classmethod from_json_stream(f: TextIO) → pycozmo.anim_encoder.AnimClips¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

to_fb_file(fspec: str)¶

to_fb_stream(f: BinaryIO)¶

to_json_file(fspec: str) → None¶

to_json_stream(f: TextIO) → None¶

class pycozmo.anim_encoder.AnimLight(red: int = 0, green: int = 0, blue: int = 0, ir: int = 0)¶

Bases: object

Light color class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimLight¶

to_dict() → list¶

class pycozmo.anim_encoder.AnimKeyframe¶

Bases: pycozmo.anim_encoder.AnimBase, abc.ABC

Animation keyframe base class.

classmethod from_dict(data)¶

classmethod from_fb(buf)¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimHeadAngle(trigger_time_ms: int = 0, duration_ms: int = 0, angle_deg: int = 0, variability_deg: int = 0)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Head angle keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimHeadAngle¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.HeadAngle.HeadAngle) → pycozmo.anim_encoder.AnimHeadAngle¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimLiftHeight(trigger_time_ms: int = 0, duration_ms: int = 0, height_mm: int = 0, variability_mm: int = 0)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Lift height keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimLiftHeight¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.LiftHeight.LiftHeight) → pycozmo.anim_encoder.AnimLiftHeight¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimRecordHeading(trigger_time_ms: int = 0)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Record heading keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimRecordHeading¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.RecordHeading.RecordHeading) → pycozmo.anim_encoder.AnimRecordHeading¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimTurnToRecordedHeading(trigger_time_ms: int = 0, duration_ms: int = 0, offset_deg: int = 0, speed_deg_per_sec: int = 0, accel_deg_per_sec_2: int = 1000, decel_deg_per_sec_2: int = 1000, tolerance_deg: int = 2, num_half_revs: int = 0, use_shortest_dir: bool = False)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Turn-to-recorded-heading keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimTurnToRecordedHeading¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.TurnToRecordedHeading.TurnToRecordedHeading) → pycozmo.anim_encoder.AnimTurnToRecordedHeading¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimBodyMotion(trigger_time_ms: int = 0, duration_ms: int = 0, radius_mm: Union[float, str] = 'STRAIGHT', speed: int = 0)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Body motion keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimBodyMotion¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.BodyMotion.BodyMotion) → pycozmo.anim_encoder.AnimBodyMotion¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimBackpackLights(trigger_time_ms: int = 0, duration_ms: int = 0, left: pycozmo.anim_encoder.AnimLight = <pycozmo.anim_encoder.AnimLight object>, front: pycozmo.anim_encoder.AnimLight = <pycozmo.anim_encoder.AnimLight object>, middle: pycozmo.anim_encoder.AnimLight = <pycozmo.anim_encoder.AnimLight object>, back: pycozmo.anim_encoder.AnimLight = <pycozmo.anim_encoder.AnimLight object>, right: pycozmo.anim_encoder.AnimLight = <pycozmo.anim_encoder.AnimLight object>)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Backpack lights keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimBackpackLights¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.BackpackLights.BackpackLights) → pycozmo.anim_encoder.AnimBackpackLights¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimFaceAnimation(trigger_time_ms: int = 0, anim_name: str = '')¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Face animation keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimFaceAnimation¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.FaceAnimation.FaceAnimation) → pycozmo.anim_encoder.AnimFaceAnimation¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimProceduralFace(trigger_time_ms: int = 0, angle: float = 0.0, center_x: float = 0.0, center_y: float = 0.0, scale_x: float = 1.0, scale_y: float = 1.0, left_eye: Iterable[float] = (), right_eye: Iterable[float] = ())¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Procedural face keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimProceduralFace¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.ProceduralFace.ProceduralFace) → pycozmo.anim_encoder.AnimProceduralFace¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimRobotAudio(trigger_time_ms: int = 0, audio_event_ids: Iterable[int] = (), volume: float = 1.0, probabilities: Iterable[float] = (), has_alts: bool = True)¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Robot audio keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimRobotAudio¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.RobotAudio.RobotAudio) → pycozmo.anim_encoder.AnimRobotAudio¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.AnimEvent(trigger_time_ms: int = 0, event_id: str = '')¶

Bases: pycozmo.anim_encoder.AnimKeyframe

Event keyframe class.

classmethod from_dict(data) → pycozmo.anim_encoder.AnimEvent¶

classmethod from_fb(fbkf: pycozmo.CozmoAnim.Event.Event) → pycozmo.anim_encoder.AnimEvent¶

to_dict() → dict¶

to_fb(builder: flatbuffers.builder.Builder)¶

class pycozmo.anim_encoder.ClipMetadata(fspec: str, index: int, name: str, has_head_angle_track: bool, has_lift_height_track: bool, has_record_heading_track: bool, has_turn_to_recorded_heading_track: bool, has_body_motion_track: bool, has_backpack_lights_track: bool, has_face_animation_track: bool, has_procedural_face_track: bool, has_robot_audio_track: bool, has_event_track: bool)¶

Bases: object

Animation clip metadata class.

pycozmo.anim_encoder.get_clip_metadata(dspec: str) → Dict[str, pycozmo.anim_encoder.ClipMetadata]¶: Retrieve clip metadata from animation FlatBuffers .bin files.