cozmo.world

The “world” represents the robot’s known view of its environment.

This view includes objects, faces and pets it knows about and can currently “see” with its camera, along with what actions or behaviors the robot is current performing and the images coming back from the camera (if any).

Almost all events emitted by the robot itself, objects, faces, pets and the camera can be observed directly on the World object, which is itself accessible as cozmo.robot.Robot.world.

For example, if you only need to know whether a particular cube has been tapped, you can call the wait_for() method directly on that cube’s cozmo.objects.LightCube instance. Eg:

my_cube.wait_for(cozmo.objects.EvtObjectTapped)

If, however, you want to wait for any cube to be tapped, you could instead call the wait_for() method on the World object instead. Eg:

robot.world.wait_for(cozmo.objects.EvtObjectTapped)

In either case, wait_for will return the instance of the event’s EvtObjectTapped class, which includes a obj attribute, which identifies exactly which cube has been tapped.

The World object also has a cozmo.camera.Camera instance associated with it. It emits EvtNewCameraImage objects whenever a new camera image is available (generally up to 15 times per second), which includes the raw image from the camera, as well as an annotated version showing where faces, pets and objects have been observed.

Note

The camera must first be enabled to receive images by setting image_stream_enabled to True.

Classes

CameraImage(raw_image, image_annotator[, ...])	A single image from Cozmo's camera.
EvtNewCameraImage(**kwargs)	Dispatched when a new camera image is received and processed from the robot's camera.
World(conn, robot, **kw)	Represents the state of the world, as known to a Cozmo robot.