anki_vector.world¶

Vector’s known view of his world.

This view includes objects and faces it knows about and can currently see with its camera.

Classes

World(robot)

Represents the state of the world, as known to Vector.

class anki_vector.world.World(robot)¶

Represents the state of the world, as known to Vector.

property all_objects¶

yields each object in the world.

# Print the all objects' class details
import anki_vector
with anki_vector.Robot() as robot:
    for obj in robot.world.all_objects:
        print(obj)

Returns: A generator yielding anki_vector.faces.Face, anki_vector.faces.LightCube, anki_vector.faces.Charger, anki_vector.faces.CustomObject and anki_vector.faces.FixedCustomObject instances.
Type: generator

property charger¶

Returns the most recently observed Vector charger object, or None if no chargers have been observed.

import anki_vector

# First, place Vector directly in front of his charger so he can observe it.

with anki_vector.Robot() as robot:
    print('Most recently observed charger: {0}'.format(robot.world.charger))

Return type: Charger

charger_factory¶: alias of anki_vector.objects.Charger

close()¶: The world will tear down all its faces and objects.

connect_cube()¶

Attempt to connect to a cube.

If a cube is currently connected, this will do nothing.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.connect_cube()

Return type: ConnectCubeResponse

property connected_light_cube¶

A light cube connected to Vector, if any.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.connect_cube()
    if robot.world.connected_light_cube:
        dock_response = robot.behavior.dock_with_cube(robot.world.connected_light_cube)

Return type: LightCube

create_custom_fixed_object(pose, x_size_mm, y_size_mm, z_size_mm, relative_to_robot=False, use_robot_origin=True)¶

Defines a cuboid of custom size and places it in the world. It cannot be observed.

See objects.CustomObjectMarkers.

Parameters

pose (Pose) – The pose of the object we are creating.
x_size_mm (float) – size of the object (in millimeters) in the x axis.
y_size_mm (float) – size of the object (in millimeters) in the y axis.
z_size_mm (float) – size of the object (in millimeters) in the z axis.
relative_to_robot (bool) – whether or not the pose given assumes the robot’s pose as its origin.
use_robot_origin (bool) – whether or not to override the origin_id in the given pose to be the origin_id of Vector.

import anki_vector
from anki_vector.util import degrees, Pose

with anki_vector.Robot() as robot:
    robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                           x_size_mm=10, y_size_mm=100, z_size_mm=100,
                                           relative_to_robot=True)

Returns: FixedCustomObject instance with the specified dimensions and pose.
Return type: FixedCustomObject

property custom_object_archetypes¶

yields each custom object archetype that Vector will look for.

See objects.CustomObjectMarkers.

import anki_vector
with anki_vector.Robot() as robot:
    for obj in robot.world.custom_object_archetypes:
        print(obj)

Returns: A generator yielding CustomObjectArchetype instances
Return type: Iterable[CustomObjectArchetype]
Type: generator

custom_object_factory¶: alias of anki_vector.objects.CustomObject

define_custom_box(custom_object_type, marker_front, marker_back, marker_top, marker_bottom, marker_left, marker_right, depth_mm, width_mm, height_mm, marker_width_mm, marker_height_mm, is_unique=True)¶

Defines a cuboid of custom size and binds it to a specific custom object type.

The robot will now detect the markers associated with this object and send an object_observed message when they are seen. The markers must be placed in the center of their respective sides. All 6 markers must be unique.

See objects.CustomObjectMarkers.

Parameters

custom_object_type (CustomObjectTypes) – the object type you are binding this custom object to.
marker_front (CustomObjectMarkers) – the marker affixed to the front of the object.
marker_back (CustomObjectMarkers) – the marker affixed to the back of the object.
marker_top (CustomObjectMarkers) – the marker affixed to the top of the object.
marker_bottom (CustomObjectMarkers) – the marker affixed to the bottom of the object.
marker_left (CustomObjectMarkers) – the marker affixed to the left of the object.
marker_right (CustomObjectMarkers) – the marker affixed to the right of the object.
depth_mm (float) – depth of the object (in millimeters) (X axis).
width_mm (float) – width of the object (in millimeters) (Y axis).
height_mm (float) – height of the object (in millimeters) (Z axis). (the height of the object)
marker_width_mm (float) – width of the printed marker (in millimeters).
maker_height_mm – height of the printed marker (in millimeters).
is_unique (bool) – If True, the robot will assume there is only 1 of this object. (and therefore only 1 of each of any of these markers) in the world.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    robot.world.define_custom_box(custom_object_type=anki_vector.objects.CustomObjectTypes.CustomType00,
                                  marker_front=  anki_vector.objects.CustomObjectMarkers.Circles2,
                                  marker_back=   anki_vector.objects.CustomObjectMarkers.Circles3,
                                  marker_top=    anki_vector.objects.CustomObjectMarkers.Circles4,
                                  marker_bottom= anki_vector.objects.CustomObjectMarkers.Circles5,
                                  marker_left=   anki_vector.objects.CustomObjectMarkers.Triangles2,
                                  marker_right=  anki_vector.objects.CustomObjectMarkers.Triangles3,
                                  depth_mm=20.0, width_mm=20.0, height_mm=20.0,
                                  marker_width_mm=50.0, marker_height_mm=50.0)

Returns

CustomObject instance with the specified dimensions. This is None if the definition failed internally. Note: No instances of this object are added to the world until they have been seen.

Raises

TypeError if the custom_object_type is of the wrong type. –
ValueError if the 6 markers aren't unique. –

Return type

CustomObject

define_custom_cube(custom_object_type, marker, size_mm, marker_width_mm, marker_height_mm, is_unique=True)¶

Defines a cube of custom size and binds it to a specific custom object type.

The robot will now detect the markers associated with this object and send an object_observed message when they are seen. The markers must be placed in the center of their respective sides.

See objects.CustomObjectMarkers.

Parameters

custom_object_type (CustomObjectTypes) – the object type you are binding this custom object to.
marker (CustomObjectMarkers) – the marker affixed to every side of the cube.
size_mm (float) – size of each side of the cube (in millimeters).
marker_width_mm (float) – width of the printed marker (in millimeters).
maker_height_mm – height of the printed marker (in millimeters).
is_unique (bool) – If True, the robot will assume there is only 1 of this object (and therefore only 1 of each of any of these markers) in the world.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    robot.world.define_custom_cube(custom_object_type=anki_vector.objects.CustomObjectTypes.CustomType00,
                                   marker=anki_vector.objects.CustomObjectMarkers.Circles2,
                                   size_mm=20.0,
                                   marker_width_mm=50.0, marker_height_mm=50.0)

Returns: CustomObject instance with the specified dimensions. This is None if the definition failed internally. Note: No instances of this object are added to the world until they have been seen.
Raises: TypeError if the custom_object_type is of the wrong type. –
Return type: CustomObject

define_custom_wall(custom_object_type, marker, width_mm, height_mm, marker_width_mm, marker_height_mm, is_unique=True)¶

Defines a wall of custom width and height, with a fixed depth of 10mm, and binds it to a specific custom object type.

The robot will now detect the markers associated with this object and send an object_observed message when they are seen. The markers must be placed in the center of their respective sides.

See objects.CustomObjectMarkers.

Parameters

custom_object_type (CustomObjectTypes) – the object type you are binding this custom object to.
marker (CustomObjectMarkers) – the marker affixed to the front and back of the wall.
width_mm (float) – width of the object (in millimeters). (Y axis).
height_mm (float) – height of the object (in millimeters). (Z axis).
width_mm – width of the wall (along Y axis) (in millimeters).
height_mm – height of the wall (along Z axis) (in millimeters).
marker_width_mm (float) – width of the printed marker (in millimeters).
maker_height_mm – height of the printed marker (in millimeters).
is_unique (bool) – If True, the robot will assume there is only 1 of this object (and therefore only 1 of each of any of these markers) in the world.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    robot.world.define_custom_wall(custom_object_type=anki_vector.objects.CustomObjectTypes.CustomType00,
                                   marker=anki_vector.objects.CustomObjectMarkers.Circles2,
                                   width_mm=20.0, height_mm=20.0,
                                   marker_width_mm=50.0, marker_height_mm=50.0)

Returns: CustomObject instance with the specified dimensions. This is None if the definition failed internally. Note: No instances of this object are added to the world until they have been seen.
Raises: TypeError if the custom_object_type is of the wrong type. –
Return type: CustomObject

delete_custom_objects(delete_custom_marker_objects=True, delete_fixed_custom_objects=True, delete_custom_object_archetypes=True)¶

Causes the robot to forget about custom objects it currently knows about.

See objects.CustomObjectMarkers.

import anki_vector
with anki_vector.Robot() as robot:
    robot.world.delete_custom_objects()

disconnect_cube()¶

Requests a disconnection from the currently connected cube.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.disconnect_cube()

Return type: DisconnectCubeResponse

face_factory¶: alias of anki_vector.faces.Face

fixed_custom_object_factory¶: alias of anki_vector.objects.FixedCustomObject

flash_cube_lights()¶

Flash cube lights

Plays the default cube connection animation on the currently connected cube’s lights.

import anki_vector
with anki_vector.Robot() as robot:
    robot.world.flash_cube_lights()

Return type: FlashCubeLightsResponse

forget_preferred_cube()¶

Forget preferred cube.

‘Forget’ the robot’s preferred cube. This will cause the robot to connect to the cube with the highest RSSI (signal strength) next time a connection is requested.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.forget_preferred_cube()

Return type: ForgetPreferredCubeResponse

get_face(face_id)¶

Fetches a Face instance with the given id.

import time

import anki_vector
from anki_vector.events import Events
from anki_vector.util import degrees

def test_subscriber(robot, event_type, event):
    for face in robot.world.visible_faces:
        print(f"Face id: {face.face_id}")

with anki_vector.Robot(enable_face_detection=True) as robot:
    # If necessary, move Vector's Head and Lift to make it easy to see his face
    robot.behavior.set_head_angle(degrees(45.0))
    robot.behavior.set_lift_height(0.0)

    robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
    robot.events.subscribe(test_subscriber, Events.robot_observed_face)

    print("------ show vector your face, press ctrl+c to exit early ------")
    try:
        time.sleep(5)
    except KeyboardInterrupt:
        robot.disconnect()

Return type: Face

get_object(object_id)¶

Fetches an object instance with the given id.

import anki_vector

with anki_vector.Robot() as robot:
    # First get an existing object id, for instance:
    valid_object_id = 1

    # Then use the object_id to retrieve the object instance:
    my_obj = robot.world.get_object(valid_object_id)

property light_cube¶

Returns the vector light cube object, regardless of its connection status.

import anki_vector
with anki_vector.Robot() as robot:
    cube = robot.world.light_cube
    if cube:
        if cube.is_connected:
            print("LightCube is connected.")
        else:
            print("LightCube isn't connected")

Raises: ValueError –
Return type: LightCube

light_cube_factory¶: alias of anki_vector.objects.LightCube

set_preferred_cube(factory_id)¶

Set preferred cube.

Set the robot’s preferred cube and save it to disk. The robot will always attempt to connect to this cube if it is available. This is only used in simulation (for now).

import anki_vector

with anki_vector.Robot() as robot:
    connected_cube = robot.world.connected_light_cube
    if connected_cube:
        robot.world.set_preferred_cube(connected_cube.factory_id)

Parameters: factory_id (str) – The unique hardware id of the physical cube.
Return type: SetPreferredCubeResponse

property visible_custom_objects¶

yields each custom object that Vector can currently see.

See objects.CustomObjectMarkers.

import anki_vector
with anki_vector.Robot() as robot:
    for obj in robot.world.visible_custom_objects:
        print(obj)

Returns: A generator yielding CustomObject instances
Return type: Iterable[CustomObject]
Type: generator

property visible_faces¶

yields each face that Vector can currently see.

import time

import anki_vector
from anki_vector.events import Events
from anki_vector.util import degrees

def test_subscriber(robot, event_type, event):
    print(f"Subscriber called for: {event_type} = {event}")

    for face in robot.world.visible_faces:
        print("--- Face attributes ---")
        print(f"Face id: {face.face_id}")
        print(f"Updated face id: {face.updated_face_id}")
        print(f"Name: {face.name}")
        print(f"Expression: {face.expression}")
        print(f"Timestamp: {face.last_observed_time}")
        print(f"Pose: {face.pose}")
        print(f"Image Rect: {face.last_observed_image_rect}")
        print(f"Expression score: {face.expression_score}")
        print(f"Left eye: {face.left_eye}")
        print(f"Right eye: {face.right_eye}")
        print(f"Nose: {face.nose}")
        print(f"Mouth: {face.mouth}")

with anki_vector.Robot(enable_face_detection=True) as robot:
    # If necessary, move Vector's Head and Lift to make it easy to see his face
    robot.behavior.set_head_angle(degrees(45.0))
    robot.behavior.set_lift_height(0.0)

    robot.events.subscribe(test_subscriber, Events.robot_changed_observed_face_id)
    robot.events.subscribe(test_subscriber, Events.robot_observed_face)

    print("------ show vector your face, press ctrl+c to exit early ------")
    try:
        time.sleep(10)
    except KeyboardInterrupt:
        robot.disconnect()

Returns: A generator yielding anki_vector.faces.Face instances.
Return type: Iterable[Face]
Type: generator

property visible_objects¶

yields each object that Vector can currently see.

import anki_vector
with anki_vector.Robot() as robot:
    for obj in robot.world.visible_objects:
        print(obj)

Returns: A generator yielding Charger, LightCube and CustomObject instances
Return type: Iterable[ObservableObject]
Type: generator