11_dock_with_cube.py

#!/usr/bin/env python3

# Copyright (c) 2017 Anki, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License in the file LICENSE.txt or at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

'''Tell Cozmo to drive up to a cube that he sees placed in front of him.

This example demonstrates Cozmo driving to and docking with a cube, without
picking it up.  You must place a cube in front of Cozmo so that he can see it.
'''

import cozmo

async def dock_with_cube(robot: cozmo.robot.Robot):
    print("Cozmo is waiting until he sees a cube.")
    cube = await robot.world.wait_for_observed_light_cube()

    print("Cozmo found a cube, and will now attempt to dock with it:")
    # Cozmo will approach the cube he has seen
    # using a 180 approach angle will cause him to drive past the cube and approach from the opposite side
    # num_retries allows us to specify how many times Cozmo will retry the action in the event of it failing
    action = robot.dock_with_cube(cube, approach_angle=cozmo.util.degrees(180), num_retries=2)
    await action.wait_for_completed()
    print("result:", action.result)

cozmo.run_program(dock_with_cube)