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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/

Audio files

WEM files

BNK files

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:

Cozmo: Animation pipeline for a physical robot

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