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zayfod / pycozmo

A pure-Python communication library, alternative SDK, and application for the Cozmo robot.
MIT License
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No change for RobotState backpack_touch_sensor_raw #6

Closed CozmoCyke closed 5 years ago

CozmoCyke commented 5 years ago

I've changed some lines to add backpack button test. During the test , I'm pressing the backpack button but I didn't see any change in this value :-(

#!/usr/bin/env python

import time

import pycozmo

def on_robot_state(cli, pkt: pycozmo.protocol_encoder.RobotState):
    del cli
    print("Battery level: {:.01f} V".format(pkt.battery_voltage))
    print("Time stamp: {0}".format(pkt.timestamp))

def on_robot_state2(cli, pkt: pycozmo.protocol_encoder.RobotState):
    del cli
    print("backpack touch sensor raw: {0}".format(pkt.backpack_touch_sensor_raw))  

def on_robot_poked(cli, pkt: pycozmo.protocol_encoder.RobotPoked):
    del cli, pkt
    print("Robot poked.")

def on_robot_falling_started(cli, pkt: pycozmo.protocol_encoder.FallingStarted):
    del cli, pkt
    print("Started falling.")

def on_robot_falling_stopped(cli, pkt: pycozmo.protocol_encoder.FallingStopped):
    del cli
    print("Falling stopped after {} ms. Impact intensity {:.01f}.".format(pkt.duration_ms, pkt.impact_intensity))

def on_robot_picked_up(cli, state):
    del cli
    if state:
        print("Picked up.")
    else:
        print("Put down.")

def on_robot_charging(cli, state):
    del cli
    if state:
        print("Started charging.")
    else:
        print("Stopped charging.")

def on_cliff_detected(cli, state):
    del cli
    if state:
        print("Cliff detected.")

def on_robot_wheels_moving(cli, state):
    del cli
    if state:
        print("Started moving.")
    else:
        print("Stopped moving.")

def pycozmo_program(cli):

    cli.add_handler(pycozmo.protocol_encoder.RobotState, on_robot_state, one_shot=True)
    cli.add_handler(pycozmo.protocol_encoder.RobotState, on_robot_state2, one_shot=False)
    cli.add_handler(pycozmo.protocol_encoder.RobotPoked, on_robot_poked)
    cli.add_handler(pycozmo.protocol_encoder.FallingStarted, on_robot_falling_started)
    cli.add_handler(pycozmo.protocol_encoder.FallingStopped, on_robot_falling_stopped)
    cli.add_handler(pycozmo.client.EvtRobotPickedUpChange, on_robot_picked_up)
    cli.add_handler(pycozmo.client.EvtRobotChargingChange, on_robot_charging)
    cli.add_handler(pycozmo.client.EvtCliffDetectedChange, on_cliff_detected)
    cli.add_handler(pycozmo.client.EvtRobotWheelsMovingChange, on_robot_wheels_moving)

    while True:
        try:
            time.sleep(0.1)
        except KeyboardInterrupt:
            break

pycozmo.run_program(pycozmo_program)

result :  
D:\dev\Cozmo\pycozmo\examples>python events.py
2019-09-07 07:41:22.037 pycozmo.general      INFO     Head S/N 154158131.
2019-09-07 07:41:22.039 pycozmo.general      INFO     Firmware version 2381.
Battery level: 3.8 V
Time stamp: 3783695
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
backpack touch sensor raw: 0
2019-09-07 07:41:32.834 pycozmo.general      INFO     Done.

D:\dev\Cozmo\pycozmo\examples>
CozmoCyke commented 5 years ago

I've added the partial log with debug.

backpack touch sensor raw: 0
2019-09-07 08:21:08.148 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201779560, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.180 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788720, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0019488274119794369, pose_pitch_rad=0.04719590023159981, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3724.85400390625, accel_y=-47.9003906
25, accel_z=9196.875, gyro_x=-0.0004579275846481323, gyro_y=0.001025638543069362
6, gyro_z=-0.0007229367620311677, battery_voltage=3.81195068359375, status=784,
cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segment=25
5)
backpack touch sensor raw: 0
2019-09-07 08:21:08.181 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201809578, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.182 pycozmo.protocol     DEBUG    Got  ObjectAvailable(facto
ry_id=1532612787, object_type=2, rssi=63)
2019-09-07 08:21:08.213 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788750, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.001948242075741291, pose_pitch_rad=0.047021254897117615, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3747.008056640625, accel_y=-56.282958
984375, accel_z=9202.263671875, gyro_x=0.00034121517091989517, gyro_y=0.00075797
1778512001, gyro_z=0.0005833512987010181, battery_voltage=3.81195068359375, stat
us=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_se
gment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.214 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201839587, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.246 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788780, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0019508912228047848, pose_pitch_rad=0.04701885208487511, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3717.0703125, accel_y=-34.12902832031
25, accel_z=9205.8564453125, gyro_x=0.0006058858707547188, gyro_y=0.000489760190
2484894, gyro_z=-0.0009840140119194984, battery_voltage=3.81195068359375, status
=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segm
ent=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.247 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201869613, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.280 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788810, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.001960350666195154, pose_pitch_rad=0.04706447198987007, lwheel
_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lift
_height_mm=-0.19826610386371613, accel_x=-3708.0888671875, accel_y=-62.869262695
3125, accel_z=9187.8935546875, gyro_x=7.31535255908966e-05, gyro_y=0.00022290088
23633194, gyro_z=0.0011069801403209567, battery_voltage=3.82794189453125, status
=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segm
ent=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.282 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201899632, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.282 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788840, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0019324577879160643, pose_pitch_rad=0.04702460393309593, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3710.48388671875, accel_y=-35.9252929
6875, accel_z=9188.4921875, gyro_x=-0.000989830121397972, gyro_y=-0.000309749506
4139366, gyro_z=5.9378642617957667e-05, battery_voltage=3.81195068359375, status
=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segm
ent=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.312 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201929646, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.312 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788870, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.001963562099263072, pose_pitch_rad=0.047086384147405624, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3708.0888671875, accel_y=-38.91906738
28125, accel_z=9177.1162109375, gyro_x=-0.0007217396050691605, gyro_y=0.00048881
48978352547, gyro_z=-0.0020279388409107924, battery_voltage=3.82794189453125, st
atus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_
segment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.345 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201959658, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.345 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788900, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.001997406827285886, pose_pitch_rad=0.04719146713614464, lwheel
_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lift
_height_mm=-0.19826610386371613, accel_x=-3743.41552734375, accel_y=-45.50537109
375, accel_z=9202.263671875, gyro_x=-0.0001877322793006897, gyro_y=-0.0003096209
838986397, gyro_z=-0.0001959954242920503, battery_voltage=3.81195068359375, stat
us=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_se
gment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.382 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=201989664, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.383 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788930, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020010010339319706, pose_pitch_rad=0.047020137310028076, lwhe
el_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, li
ft_height_mm=-0.19826610386371613, accel_x=-3734.43408203125, accel_y=-53.289184
5703125, accel_z=9184.900390625, gyro_x=7.742363959550858e-05, gyro_y=0.00075327
41874456406, gyro_z=-0.0004569354932755232, battery_voltage=3.81195068359375, st
atus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_
segment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.384 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202019688, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.411 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788960, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.002011761302128434, pose_pitch_rad=0.04699564725160599, lwheel
_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lift
_height_mm=-0.19826610386371613, accel_x=-3734.43408203125, accel_y=-44.30786132
8125, accel_z=9210.0478515625, gyro_x=-0.0007205810397863388, gyro_y=0.000486426
05543136597, gyro_z=0.0005891039036214352, battery_voltage=3.82794189453125, sta
tus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_s
egment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.412 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202049729, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.444 pycozmo.protocol     DEBUG    Got  ObjectAvailable(facto
ry_id=1874512796, object_type=3, rssi=68)
2019-09-07 08:21:08.444 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3788990, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.001996648497879505, pose_pitch_rad=0.0469198040664196, lwheel_
speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lift_
height_mm=-0.19826610386371613, accel_x=-3754.7919921875, accel_y=-38.3203125, a
ccel_z=9182.5048828125, gyro_x=7.828511297702789e-05, gyro_y=0.00075009744614362
72, gyro_z=-0.0015024078311398625, battery_voltage=3.79998779296875, status=784,
 cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segment=2
55)
backpack touch sensor raw: 0
2019-09-07 08:21:08.445 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202079748, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.480 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789020, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020548293832689524, pose_pitch_rad=0.04681747406721115, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3745.2119140625, accel_y=-43.11035156
25, accel_z=9210.646484375, gyro_x=0.0008752867579460144, gyro_y=-0.000314646400
5112648, gyro_z=-0.0007133247563615441, battery_voltage=3.81195068359375, status
=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segm
ent=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.482 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202109782, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.510 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789050, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020625528413802385, pose_pitch_rad=0.04685640335083008, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3725.452880859375, accel_y=-26.345214
84375, accel_z=9193.2822265625, gyro_x=7.528997957706451e-05, gyro_y=0.000750390
812754631, gyro_z=0.00033244394580833614, battery_voltage=3.81195068359375, stat
us=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_se
gment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.511 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202139814, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.543 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789080, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.002048708964139223, pose_pitch_rad=0.0468200147151947, lwheel_
speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lift_
height_mm=-0.19826610386371613, accel_x=-3711.082763671875, accel_y=-23.95019531
25, accel_z=9185.4990234375, gyro_x=0.0003404524177312851, gyro_y=-4.96245920658
1116e-05, gyro_z=0.0005924529978074133, battery_voltage=3.81195068359375, status
=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segm
ent=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.544 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202169819, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.576 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789110, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020535914227366447, pose_pitch_rad=0.04693788290023804, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3744.01416015625, accel_y=-38.9190673
828125, accel_z=9202.263671875, gyro_x=-0.0009893886744976044, gyro_y=-4.9473717
80872345e-05, gyro_z=0.0005928901373408735, battery_voltage=3.81195068359375, st
atus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_
segment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.580 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202199860, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.581 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789140, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020254100672900677, pose_pitch_rad=0.047033995389938354, lwhe
el_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, li
ft_height_mm=-0.19826610386371613, accel_x=-3708.687744140625, accel_y=-17.96264
6484375, accel_z=9199.869140625, gyro_x=0.00034239329397678375, gyro_y=0.0002171
304076910019, gyro_z=0.0005903275450691581, battery_voltage=3.81195068359375, st
atus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_
segment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.609 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202229879, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.610 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789170, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020203092135488987, pose_pitch_rad=0.04705582559108734, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3712.2802734375, accel_y=-40.71533203
125, accel_z=9204.6591796875, gyro_x=-0.00019034743309020996, gyro_y=0.000481741
5028810501, gyro_z=-0.000716476293746382, battery_voltage=3.81195068359375, stat
us=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_se
gment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.642 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202259919, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.643 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789200, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020410637371242046, pose_pitch_rad=0.0469980388879776, lwheel
_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lift
_height_mm=-0.19826610386371613, accel_x=-3736.23046875, accel_y=-31.73400878906
25, accel_z=9198.072265625, gyro_x=0.000342600978910923, gyro_y=0.00021450966596
603394, gyro_z=0.0011142764706164598, battery_voltage=3.81195068359375, status=7
84, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segmen
t=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.675 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202289940, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.676 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789230, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020086215808987617, pose_pitch_rad=0.04705295339226723, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3726.650390625, accel_y=-29.338989257
8125, accel_z=9201.06640625, gyro_x=0.0008726222440600395, gyro_y=-0.00084929307
92272091, gyro_z=6.625978130614385e-05, battery_voltage=3.81195068359375, status
=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segm
ent=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.708 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202319949, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.709 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789260, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020093086641281843, pose_pitch_rad=0.04716549068689346, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3706.8916015625, accel_y=-49.09790039
0625, accel_z=9190.2890625, gyro_x=-0.0007238071411848068, gyro_y=0.000483003444
9696541, gyro_z=6.631465657847002e-05, battery_voltage=3.81195068359375, status=
784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segme
nt=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.741 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202350134, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.742 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789290, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020128737669438124, pose_pitch_rad=0.047270212322473526, lwhe
el_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, li
ft_height_mm=-0.19826610386371613, accel_x=-3724.25537109375, accel_y=-32.332763
671875, accel_z=9180.708984375, gyro_x=7.467065006494522e-05, gyro_y=-0.00031647
738069295883, gyro_z=-0.0009784388821572065, battery_voltage=3.81195068359375, s
tatus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path
_segment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.745 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202380150, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.774 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789320, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020379615016281605, pose_pitch_rad=0.04716471955180168, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3717.0703125, accel_y=-29.93774414062
5, accel_z=9190.8876953125, gyro_x=-0.002051345072686672, gyro_y=0.0007480327039
957047, gyro_z=0.00033017582609318197, battery_voltage=3.81195068359375, status=
784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path_segme
nt=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.777 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202410157, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.807 pycozmo.protocol     DEBUG    Got  RobotState(timestamp=
3789350, pose_frame_id=0, pose_origin_id=0, pose_x=0.0, pose_y=0.0, pose_z=0.0,
pose_angle_rad=-0.0020155729725956917, pose_pitch_rad=0.04712124168872833, lwhee
l_speed_mmps=0.0, rwheel_speed_mmps=0.0, head_angle_rad=-0.4318157136440277, lif
t_height_mm=-0.19826610386371613, accel_x=-3709.28662109375, accel_y=-29.3389892
578125, accel_z=9184.900390625, gyro_x=-0.0007159821689128876, gyro_y=-0.0003175
0090420246124, gyro_z=0.0005894111818633974, battery_voltage=3.81195068359375, s
tatus=784, cliff_data_raw=[873, 0, 0, 0], backpack_touch_sensor_raw=0, curr_path
_segment=255)
backpack touch sensor raw: 0
2019-09-07 08:21:08.810 pycozmo.protocol     DEBUG    Got  AnimationState(timest
amp=202440192, num_anim_bytes_played=36, num_audio_frames_played=6, enabled_anim
_tracks=255, tag=0, client_drop_count=0)
2019-09-07 08:21:08.821 pycozmo.general      DEBUG    Disconnecting...
2019-09-07 08:21:08.822 pycozmo.general      DEBUG    Stopping client...
2019-09-07 08:21:08.823 pycozmo.protocol     DEBUG    Sent Disconnect()
2019-09-07 08:21:09.807 pycozmo.general      INFO     Done.

D:\dev\Cozmo\pycozmo\examples>
zayfod commented 5 years ago

Thanks for trying this.

It seems that RobotState.backpack_touch_sensor_raw does not reflect button events. There are no other packets in the second log that may indicate button events also.

Clarified the documentation with a49b1f5d0b.

This is a mystery for the moment...

My two Cozmos don't have buttons, so at the moment I cannot test this.