Anki Cozmo on MacOS Linux

Host Anki Cozmo on remo.tv

If you are looking for how to setup Cozmo on Windows, you can find those instructions here.

Pre-setup

Install socketIO-client for python3

python3 -m pip install socketIO-client configparser

Setup instructions

Setup the Cozmo SDK on your computer using their instructions:

• http://cozmosdk.anki.com/docs/initial.html#installation

Edit controller.sample.conf

• Enter your owner, robot_key, etc. from remo.tv
• change [robot] type=none to type=cozmo
• change [tts] type=none to type=cozmo_tts
• change [ffmpeg] type=ffmpeg-arecord to type=cozmo_vid
• Save file as controller.conf

Install ffmpeg:

ffmpeg should already be installed on Linux if you've followed the base installation instructions.

MacOS:

brew install ffmpeg

Starting Cozmo

• Using the Cozmo app enter SDK mode and connect your mobile device to the host machine.
• Execute the Remo controller using

cd ~/remotv
python3 controller.py

• For audio streaming, you need a second instance of the controller with a separate conf file with the following changes

[robot]
type=none

[camera]
no_camera=true

[tts]
type=none

• All other changes remain the same. To execute, run

cd ~/remotv
python3 controller.py

• if you don't want to, or cannot run another terminal window, screen is a helpful tool for running commands concurrently.

LINUX

sudo apt install screen

screen is already installed on MacOS.

• to detach from a screen session, type ^A d. To reattach a detached screen session, type screen -r.

Update the Remo.TV robot configuration to have these custom controls:

Open your robots page on Remo.TV, click the (edit buttons) link just below the robot controls. Copy the controls json for below, and paste it into the edit window, overwriting the existing code. Click the Upload button to save the new controls. This example is designed to work out of the box with the existing Cozmo controls.

[
    { "label": "Left", "hot_key": "a", "command": "l" },
    { "label": "Right", "hot_key": "d", "command": "r" },
    { "label": "Forward", "hot_key": "w", "command": "f" },
    { "label": "Backward", "hot_key": "s", "command": "b" },
    { "label": "Look Up", "hot_key": "q", "command": "q" },
    { "label": "Look Down", "hot_key": "z", "command": "a" },
    { "label": "Lift Up", "hot_key": "e", "command": "w" },
    { "label": "Lift Down", "hot_key": "c", "command": "s" },
    { "label": "Light Toggle", "hot_key": "x", "command": "v" },
    { "label": "Drat", "hot_key": "0", "command": "0" },
    { "label": "Giggle", "hot_key": "1", "command": "1" },
    { "label": "Wow", "hot_key": "2", "command": "2" },
    { "label": "Tick Tock", "hot_key": "3", "command": "3" },
    { "label": "Ping Pong", "hot_key": "4", "command": "4" },
    { "label": "Meow", "hot_key": "5", "command": "5" },
    { "label": "WufWuf", "hot_key": "6", "command": "6" },
    { "label": "LookUp", "hot_key": "7", "command": "7" },
    { "label": "Excite", "hot_key": "8", "command": "8" },
    { "label": "BackUp", "hot_key": "9", "command": "9" },
    { "label": "Hello", "hot_key": "", "command": "sayhi" },
    { "label": "Watch This", "hot_key": "", "command": "saywatch" },
    { "label": "Love You", "hot_key": "", "command": "saylove" },
    { "label": "Bye", "hot_key": "", "command": "saybye" },
    { "label": "Happy", "hot_key": "", "command": "sayhappy" },
    { "label": "Sad", "hot_key": "", "command": "saysad" },
    { "label": "How Are You", "hot_key": "", "command": "sayhowru" },
    { "label": "Sing Song", "hot_key": "", "command": "singsong" },
    { "label": "Light Cubes", "hot_key": "", "command": "lightcubes" },
    { "label": "Dim Cubes", "hot_key": "", "command": "dimcubes" }
]

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:

NOTE : These instructions are out of date. The current method to stream audio involves changing the audio_input_format to avfoundation, video type to ffmpeg and no_camera to true.

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://dev.remo.tv:1567/transmit?name=%s-audio' % (channelID)