anki_vector.objects

Object and Light Cube recognition.

Vector can recognize and track a number of different types of objects.

These objects may be visible (currently observed by the robot’s camera) and tappable (in the case of the Light Cube that ships with the robot).

The Light Cube is known as a LightCube by the SDK. The cube has controllable lights, and sensors that can determine when it’s being moved or tapped.

Objects can generate events which can be subscribed to from the anki_vector.events class, such as object_appeared (of type EvtObjectAppeared), and object_disappeared (of type EvtObjectDisappeared), which are broadcast based on both robot originating events and local state.

All observable objects have a marker of a known size attached to them, which allows Vector to recognize the object and its position and rotation (“pose”). You can attach markers to your own objects for Vector to recognize by printing them out from the online documentation. They will be detected as CustomObject instances.

Vector connects to his Light Cube with BLE.

Classes

Charger(robot, object_id, **kw)

Vector’s charger object, which the robot can observe and drive toward.

CustomObject(robot, archetype, object_id, **kw)

An object defined by the SDK observed by the robot.

CustomObjectArchetype(custom_type, …)

An object archetype defined by the SDK.

CustomObjectMarkers

Defines all available custom object markers.

CustomObjectTypes

Defines all available custom object types.

EvtObjectAppeared(obj, image_rect, pose)

Triggered whenever an object is first visually identified by a robot.

EvtObjectDisappeared(obj)

Triggered whenever an object that was previously being observed is no longer visible.

EvtObjectFinishedMove(obj, move_duration)

Triggered when an active object stops moving.

EvtObjectObserved(obj, image_rect, pose)

Triggered whenever an object is visually identified by the robot.

FixedCustomObject(robot, pose, x_size_mm, …)

A fixed object defined by the SDK.

LightCube(robot, **kw)

Represents Vector’s Cube.

ObservableObject(robot, **kw)

Represents any object Vector can see in the world.

anki_vector.objects.LIGHT_CUBE_1_TYPE = 2

LIGHT_CUBE_1_TYPE’s markers look like 2 concentric circles with lines and gaps.

anki_vector.objects.OBJECT_VISIBILITY_TIMEOUT = 0.8

Length of time in seconds to go without receiving an observed event before assuming that Vector can no longer see an object.

class anki_vector.objects.EvtObjectAppeared(obj, image_rect, pose)

Triggered whenever an object is first visually identified by a robot.

This differs from EvtObjectObserved in that it’s only triggered when an object initially becomes visible. If it disappears for more than OBJECT_VISIBILITY_TIMEOUT seconds and then is seen again, a EvtObjectDisappeared will be dispatched, followed by another EvtObjectAppeared event.

For continuous tracking information about a visible object, see EvtObjectObserved.

import time

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

def handle_object_appeared(robot, event_type, event):
    # This will be called whenever an EvtObjectAppeared is dispatched -
    # whenever an Object comes into view.
    print(f"--------- Vector started seeing an object --------- \n{event.obj}")

with anki_vector.Robot(default_logging=False,
                       show_viewer=True,
                       show_3d_viewer=True,
                       enable_nav_map_feed=True) as robot:
    # Place Vector's cube where he can see it

    robot.events.subscribe(handle_object_appeared, Events.object_appeared)

    # If necessary, move Vector's Head and Lift down
    robot.behavior.set_lift_height(0.0)
    robot.behavior.set_head_angle(degrees(0.0))

    time.sleep(3.0)
Parameters
class anki_vector.objects.EvtObjectDisappeared(obj)

Triggered whenever an object that was previously being observed is no longer visible.

import time

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

def handle_object_disappeared(robot, event_type, event):
    # This will be called whenever an EvtObjectDisappeared is dispatched -
    # whenever an Object goes out of view.
    print(f"--------- Vector stopped seeing an object --------- \n{event.obj}")

with anki_vector.Robot(default_logging=False,
                       show_viewer=True,
                       show_3d_viewer=True,
                       enable_nav_map_feed=True) as robot:
    # Place Vector's cube where he can see it

    robot.events.subscribe(handle_object_disappeared, Events.object_disappeared)

    # If necessary, move Vector's Head and Lift down
    robot.behavior.set_lift_height(0.0)
    robot.behavior.set_head_angle(degrees(0.0))

    time.sleep(3.0)
Parameters

obj – The object that is no longer being observed

class anki_vector.objects.EvtObjectFinishedMove(obj, move_duration)

Triggered when an active object stops moving.

Parameters
  • obj – The object that moved

  • move_duration (float) – The duration of the move

class anki_vector.objects.EvtObjectObserved(obj, image_rect, pose)

Triggered whenever an object is visually identified by the robot.

A stream of these events are produced while an object is visible to the robot. Each event has an updated image_box field.

See EvtObjectAppeared if you only want to know when an object first becomes visible.

import time

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

def handle_object_observed(robot, event_type, event):
    # This will be called whenever an EvtObjectObserved is dispatched -
    # whenever an Object comes into view.
    print(f"--------- Vector observed an object --------- \n{event.obj}")

with anki_vector.Robot(default_logging=False,
                       show_viewer=True,
                       show_3d_viewer=True,
                       enable_nav_map_feed=True) as robot:
    # Place Vector's cube where he can see it

    robot.events.subscribe(handle_object_observed, Events.object_observed)

    # If necessary, move Vector's Head and Lift down
    robot.behavior.set_lift_height(0.0)
    robot.behavior.set_head_angle(degrees(0.0))

    time.sleep(3.0)
Parameters
class anki_vector.objects.Charger(robot, object_id, **kw)

Vector’s charger object, which the robot can observe and drive toward. We get an anki_vector.objects.EvtObjectObserved message when the robot sees the charger.

See parent class ObservableObject for additional properties and methods.

import anki_vector

# Position Vector so he can see his charger
with anki_vector.Robot() as robot:
    if robot.world.charger:
        print('Robot is aware of charger: {0}'.format(robot.world.charger))
descriptive_name

A descriptive name for this ObservableObject instance.

Note: Sub-classes should override this to add any other relevant info for that object type.

import anki_vector

with anki_vector.Robot() as robot:
    if robot.world.charger:
        print(f"{robot.world.charger.descriptive_name}")
Return type

str

object_id

The internal ID assigned to the object.

import anki_vector

# Position Vector so he can see his charger
with anki_vector.Robot() as robot:
    if robot.world.charger:
        charger_object_id = robot.world.charger.object_id
        print(f"charger_object_id: {charger_object_id}")

This value can only be assigned once as it is static on the robot.

Return type

int

teardown()

All objects will be torn down by the world when the world closes.

class anki_vector.objects.CustomObjectArchetype(custom_type, x_size_mm, y_size_mm, z_size_mm, marker_width_mm, marker_height_mm, is_unique)

An object archetype defined by the SDK. It is bound to a specific objectType e.g CustomType00.

This defined object is given a size in the x,y and z axis. The dimensions of the markers on the object are also defined.

See CustomObjectMarkers.

When the robot observes custom objects, they will be linked to these archetypes. These can be created using the methods define_custom_box(), define_custom_cube(), or define_custom_wall().

custom_type

id of this archetype on the robot.

See CustomObjectMarkers.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    for obj in robot.world.custom_object_archetypes:
        print('custom object archetype defined with type: {0}'.format(obj.custom_type))
Return type

<google.protobuf.internal.enum_type_wrapper.EnumTypeWrapper object at 0x11274c7f0>

is_unique

True if there should only be one of this object type in the world.

See CustomObjectMarkers.

Return type

bool

marker_height_mm

Height in millimeters of the marker on this object.

See CustomObjectMarkers.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    for obj in robot.world.custom_object_archetypes:
        print('custom object archetype defined with marker size: {0}mm x {1}mm'.format(obj.marker_width_mm, obj.marker_height_mm))
Return type

float

marker_width_mm

Width in millimeters of the marker on this object.

See CustomObjectMarkers.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    for obj in robot.world.custom_object_archetypes:
        print('custom object archetype defined with marker size: {0}mm x {1}mm'.format(obj.marker_width_mm, obj.marker_height_mm))
Return type

float

x_size_mm

Size of this object in its X axis, in millimeters.

See CustomObjectMarkers.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    for obj in robot.world.custom_object_archetypes:
        print('custom object archetype defined with dimensions: {0}mm x {1}mm x {2}mm'.format(obj.x_size_mm, obj.y_size_mm, obj.z_size_mm))
Return type

float

y_size_mm

Size of this object in its Y axis, in millimeters.

See CustomObjectMarkers.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    for obj in robot.world.custom_object_archetypes:
        print('custom object archetype defined with dimensions: {0}mm x {1}mm x {2}mm'.format(obj.x_size_mm, obj.y_size_mm, obj.z_size_mm))
Return type

float

z_size_mm

Size of this object in its Z axis, in millimeters.

See CustomObjectMarkers.

import anki_vector
with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    for obj in robot.world.custom_object_archetypes:
        print('custom object archetype defined with dimensions: {0}mm x {1}mm x {2}mm'.format(obj.x_size_mm, obj.y_size_mm, obj.z_size_mm))
Return type

float

class anki_vector.objects.CustomObject(robot, archetype, object_id, **kw)

An object defined by the SDK observed by the robot. The object will reference a CustomObjectArchetype, with additional instance data.

These objects are created automatically by the engine when Vector observes an object with custom markers. For Vector to see one of these you must first define an archetype with custom markers, via one of the following methods: define_custom_box(). define_custom_cube(), or define_custom_wall()

See CustomObjectMarkers.

archetype

Archetype defining this custom object’s properties.

See CustomObjectMarkers.

import anki_vector
from anki_vector.objects import CustomObjectMarkers, CustomObjectTypes

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

    # have the robot observe a custom object in the real world with the Circles2 marker

    for obj in robot.world.visible_custom_objects:
        print('custom object seen with archetype: {0}'.format(obj.archetype))
Return type

CustomObjectArchetype

descriptive_name

A descriptive name for this CustomObject instance.

See CustomObjectMarkers.

import anki_vector
from anki_vector.objects import CustomObjectMarkers, CustomObjectTypes

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

    # have the robot observe a custom object in the real world with the Circles2 marker

    for obj in robot.world.visible_custom_objects:
        print('custom object seen with name: {0}'.format(obj.descriptive_name))
Return type

str

object_id

The internal ID assigned to the object.

This value can only be assigned once as it is static on the robot.

See CustomObjectMarkers.

import anki_vector
from anki_vector.objects import CustomObjectMarkers, CustomObjectTypes

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

    # have the robot observe a custom object in the real world with the Circles2 marker

    for obj in robot.world.visible_custom_objects:
        print('custom object seen with id: {0}'.format(obj.object_id))
Return type

int

teardown()

All objects will be torn down by the world when no longer needed.

See CustomObjectMarkers.

class anki_vector.objects.CustomObjectMarkers

Defines all available custom object markers.

For use with world.define_custom methods such as anki_vector.world.World.define_custom_box(), anki_vector.world.World.define_custom_cube(), and anki_vector.world.World.define_custom_wall()

See CustomObject.

import anki_vector
from anki_vector.objects import CustomObjectMarkers, CustomObjectTypes

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    robot.world.define_custom_cube(custom_object_type=CustomObjectTypes.CustomType00,
                                   marker=CustomObjectMarkers.Circles2,
                                   size_mm=20.0,
                                   marker_width_mm=50.0, marker_height_mm=50.0)
Circles2 = _CustomObjectMarker(name='Circles2', id=1)
../_images/SDK_2Circles.png
Circles3 = _CustomObjectMarker(name='Circles3', id=2)
../_images/SDK_3Circles.png
Circles4 = _CustomObjectMarker(name='Circles4', id=3)
../_images/SDK_4Circles.png
Circles5 = _CustomObjectMarker(name='Circles5', id=4)
../_images/SDK_5Circles.png
Diamonds2 = _CustomObjectMarker(name='Diamonds2', id=5)
../_images/SDK_2Diamonds.png
Diamonds3 = _CustomObjectMarker(name='Diamonds3', id=6)
../_images/SDK_3Diamonds.png
Diamonds4 = _CustomObjectMarker(name='Diamonds4', id=7)
../_images/SDK_4Diamonds.png
Diamonds5 = _CustomObjectMarker(name='Diamonds5', id=8)
../_images/SDK_5Diamonds.png
Hexagons2 = _CustomObjectMarker(name='Hexagons2', id=9)
../_images/SDK_2Hexagons.png
Hexagons3 = _CustomObjectMarker(name='Hexagons3', id=10)
../_images/SDK_3Hexagons.png
Hexagons4 = _CustomObjectMarker(name='Hexagons4', id=11)
../_images/SDK_4Hexagons.png
Hexagons5 = _CustomObjectMarker(name='Hexagons5', id=12)
../_images/SDK_5Hexagons.png
Triangles2 = _CustomObjectMarker(name='Triangles2', id=13)
../_images/SDK_2Triangles.png
Triangles3 = _CustomObjectMarker(name='Triangles3', id=14)
../_images/SDK_3Triangles.png
Triangles4 = _CustomObjectMarker(name='Triangles4', id=15)
../_images/SDK_4Triangles.png
Triangles5 = _CustomObjectMarker(name='Triangles5', id=16)
../_images/SDK_5Triangles.png
class anki_vector.objects.CustomObjectTypes

Defines all available custom object types.

For use with world.define_custom methods such as anki_vector.world.World.define_custom_box(), anki_vector.world.World.define_custom_cube(), and anki_vector.world.World.define_custom_wall()

See CustomObjectMarkers.

import anki_vector
from anki_vector.objects import CustomObjectMarkers, CustomObjectTypes

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    robot.world.define_custom_cube(custom_object_type=CustomObjectTypes.CustomType00,
                                   marker=CustomObjectMarkers.Circles2,
                                   size_mm=20.0,
                                   marker_width_mm=50.0, marker_height_mm=50.0)
CustomType00 = _CustomObjectType(name='CustomType00', id=1)

CustomType00 - the first custom object type

CustomType01 = _CustomObjectType(name='CustomType01', id=2)
CustomType02 = _CustomObjectType(name='CustomType02', id=3)
CustomType03 = _CustomObjectType(name='CustomType03', id=4)
CustomType04 = _CustomObjectType(name='CustomType04', id=5)
CustomType05 = _CustomObjectType(name='CustomType05', id=6)
CustomType06 = _CustomObjectType(name='CustomType06', id=7)
CustomType07 = _CustomObjectType(name='CustomType07', id=8)
CustomType08 = _CustomObjectType(name='CustomType08', id=9)
CustomType09 = _CustomObjectType(name='CustomType09', id=10)
CustomType10 = _CustomObjectType(name='CustomType10', id=11)
CustomType11 = _CustomObjectType(name='CustomType11', id=12)
CustomType12 = _CustomObjectType(name='CustomType12', id=13)
CustomType13 = _CustomObjectType(name='CustomType13', id=14)
CustomType14 = _CustomObjectType(name='CustomType14', id=15)
CustomType15 = _CustomObjectType(name='CustomType15', id=16)
CustomType16 = _CustomObjectType(name='CustomType16', id=17)
CustomType17 = _CustomObjectType(name='CustomType17', id=18)
CustomType18 = _CustomObjectType(name='CustomType18', id=19)
CustomType19 = _CustomObjectType(name='CustomType19', id=20)

CustomType19 - the last custom object type

class anki_vector.objects.FixedCustomObject(robot, pose, x_size_mm, y_size_mm, z_size_mm, object_id, **kw)

A fixed object defined by the SDK. It is given a pose and x,y,z sizes.

This object cannot be observed by the robot so its pose never changes. The position is static in Vector’s world view; once instantiated, these objects never move. This could be used to make Vector aware of objects and know to plot a path around them even when they don’t have any markers.

To create these use create_custom_fixed_object()

import anki_vector
from anki_vector.util import degrees, Pose
import time

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

The internal ID assigned to the object.

This value can only be assigned once as it is static in the engine.

import anki_vector
from anki_vector.util import degrees, Pose
import time

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    obj = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                      10, 100, 100, relative_to_robot=True)
    print('fixed custom object id: {0}'.format(obj.object_id))
Return type

int

pose

The pose of the object in the world.

import anki_vector
from anki_vector.util import degrees, Pose
import time

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    obj = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                      10, 100, 100, relative_to_robot=True)
    print('fixed custom object id: {0}'.format(obj.pose))
Return type

Pose

x_size_mm

The length of the object in its X axis, in millimeters.

import anki_vector
from anki_vector.util import degrees, Pose
import time

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    obj = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                      10, 100, 100, relative_to_robot=True)
    print('fixed custom object size: {0}mm x {1}mm x {2}mm'.format(obj.x_size_mm, obj.y_size_mm, obj.z_size_mm))
Return type

float

y_size_mm

The length of the object in its Y axis, in millimeters.

import anki_vector
from anki_vector.util import degrees, Pose
import time

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    obj = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                      10, 100, 100, relative_to_robot=True)
    print('fixed custom object size: {0}mm x {1}mm x {2}mm'.format(obj.x_size_mm, obj.y_size_mm, obj.z_size_mm))
Return type

float

z_size_mm

The length of the object in its Z axis, in millimeters.

import anki_vector
from anki_vector.util import degrees, Pose
import time

with anki_vector.Robot(enable_custom_object_detection=True) as robot:
    obj = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                      10, 100, 100, relative_to_robot=True)
    print('fixed custom object size: {0}mm x {1}mm x {2}mm'.format(obj.x_size_mm, obj.y_size_mm, obj.z_size_mm))
Return type

float

class anki_vector.objects.LightCube(robot, **kw)

Represents Vector’s Cube.

The LightCube object has four LEDs that Vector can actively manipulate and communicate with.

As Vector drives around, he uses the position of objects that he recognizes, including his cube, to localize himself, taking note of the anki_vector.util.Pose of the objects.

You can subscribe to cube events including anki_vector.events.Events.object_tapped, anki_vector.events.Events.object_appeared, and anki_vector.events.Events.object_disappeared.

Vector supports 1 LightCube.

See parent class ObservableObject for additional properties and methods.

descriptive_name

A descriptive name for this ObservableObject instance.

Note: Sub-classes should override this to add any other relevant info for that object type.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.connect_cube()
    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube
        print(f"{cube.descriptive_name}")
Return type

str

factory_id

The unique hardware id of the physical cube.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.connect_cube()
    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube
        print(f"{cube.factory_id}")
Return type

str

is_connected

True if the cube is currently connected to the robot.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.connect_cube()
    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube
        print(f"{cube.is_connected}")
Return type

bool

is_moving

True if the cube’s accelerometer indicates that the cube is moving.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'is_moving: {connected_cube.is_moving}')
        time.sleep(0.5)
Return type

bool

last_moved_robot_timestamp

The time the object was last moved in robot time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_moved_robot_timestamp: {connected_cube.last_moved_robot_timestamp}')
        time.sleep(0.5)
Return type

float

last_moved_start_robot_timestamp

The time the object more recently started moving in robot time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_moved_start_robot_timestamp: {connected_cube.last_moved_start_robot_timestamp}')
        time.sleep(0.5)
Return type

float

last_moved_start_time

The time the object most recently started moving in SDK time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_moved_start_time: {connected_cube.last_moved_start_time}')
        time.sleep(0.5)
Return type

float

last_moved_time

The time the object was last moved in SDK time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_moved_time: {connected_cube.last_moved_time}')
        time.sleep(0.5)
Return type

float

last_tapped_robot_timestamp

The time the object was last tapped in robot time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_tapped_robot_timestamp: {connected_cube.last_tapped_robot_timestamp}')
        time.sleep(0.5)
Return type

float

last_tapped_time

The time the object was last tapped in SDK time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_tapped_time: {connected_cube.last_tapped_time}')
        time.sleep(0.5)
Return type

float

last_up_axis_changed_robot_timestamp

Time the object’s orientation last changed in robot time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_up_axis_changed_robot_timestamp: {connected_cube.last_up_axis_changed_robot_timestamp}')
        time.sleep(0.5)
Return type

float

last_up_axis_changed_time

The time the object’s orientation last changed in SDK time.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'last_up_axis_changed_time: {connected_cube.last_up_axis_changed_time}')
        time.sleep(0.5)
Return type

float

object_id

The internal ID assigned to the object.

This value can only be assigned once as it is static on the robot.

import anki_vector

with anki_vector.Robot() as robot:
    robot.world.connect_cube()
    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube
        print(f"{cube.object_id}")
Return type

int

set_light_corners(light1, light2, light3, light4, color_profile=<anki_vector.lights.ColorProfile object>)

Set the light for each corner.

import anki_vector

import time

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

    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube

        cube.set_light_corners(anki_vector.lights.blue_light,
                               anki_vector.lights.green_light,
                               anki_vector.lights.red_light,
                               anki_vector.lights.white_light)
        time.sleep(3)

        cube.set_lights_off()
Parameters
  • light1 (Light) – The settings for the first light.

  • light2 (Light) – The settings for the second light.

  • light3 (Light) – The settings for the third light.

  • light4 (Light) – The settings for the fourth light.

  • color_profile (ColorProfile) – The profile to be used for the cube lights

set_lights(light, color_profile=<anki_vector.lights.ColorProfile object>)

Set all lights on the cube

import anki_vector

import time

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

    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube

        # Set cube lights to yellow
        cube.set_lights(anki_vector.lights.yellow_light)
        time.sleep(3)

        cube.set_lights_off()
Parameters
  • light (Light) – The settings for the lights

  • color_profile (ColorProfile) – The profile to be used for the cube lights

set_lights_off(color_profile=<anki_vector.lights.ColorProfile object>)

Set all lights off on the cube

import anki_vector

import time

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

    if robot.world.connected_light_cube:
        cube = robot.world.connected_light_cube

        # Set cube lights to yellow
        cube.set_lights(anki_vector.lights.yellow_light)
        time.sleep(3)

        # Turn off cube lights
        cube.set_lights_off()
Parameters

color_profile (ColorProfile) – The profile to be used for the cube lights

teardown()

All faces will be torn down by the world when no longer needed.

top_face_orientation_rad

Angular distance from the current reported up axis.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'top_face_orientation_rad: {connected_cube.top_face_orientation_rad}')
        time.sleep(0.5)
Return type

float

up_axis

The object’s up_axis value from the last time it changed.

import time
import anki_vector

with anki_vector.Robot() as robot:
    print("disconnecting from any connected cube...")
    robot.world.disconnect_cube()

    time.sleep(2)

    print("connect to a cube...")
    connectionResult = robot.world.connect_cube()

    print("For the next 8 seconds, please tap and move the cube. Cube properties will be logged to console.")
    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(f'up_axis: {connected_cube.up_axis}')
        time.sleep(0.5)
Return type

<google.protobuf.internal.enum_type_wrapper.EnumTypeWrapper object at 0x113881780>

visibility_timeout = 0.8

Length of time in seconds to go without receiving an observed event before assuming that Vector can no longer see an object. Can be overridden in subclasses.

class anki_vector.objects.ObservableObject(robot, **kw)

Represents any object Vector can see in the world.

is_visible

True if the element has been observed recently, False otherwise.

“recently” is defined as visibility_timeout seconds.

Return type

bool

last_event_time

Time this object last received an event from Vector.

Return type

float

last_observed_image_rect

The location in 2d camera space where this object was last seen.

Return type

ImageRect

last_observed_robot_timestamp

Time this object was last seen according to Vector’s time.

Return type

int

last_observed_time

Time this object was last seen.

Return type

float

pose

The pose of this object in the world.

Is None for elements that don’t have pose information.

import anki_vector
import time

# First, place a cube directly in front of Vector so he can observe it.

with anki_vector.Robot() as robot:
    connectionResult = robot.world.connect_cube()
    connected_cube = robot.world.connected_light_cube

    for _ in range(16):
        connected_cube = robot.world.connected_light_cube
        if connected_cube:
            print(connected_cube)
            print("last observed timestamp: " + str(connected_cube.last_observed_time) + ", robot timestamp: " + str(connected_cube.last_observed_robot_timestamp))
            print(robot.world.connected_light_cube.pose)
        time.sleep(0.5)
Return type

Pose

time_since_last_seen

Time since this object was last seen. math.inf if never seen.

import anki_vector

with anki_vector.Robot(enable_face_detection=True) as robot:
    for face in robot.world.visible_faces:
        print(f"time_since_last_seen: {face.time_since_last_seen}")
Return type

float