Merge branch 'dev'

CHANGES.md

 Revision History
 ================
 
+v0.5.0 (Oct 12, 2019)
+---------------------
+- Added initial client API.
+- Separated low-level Cozmo connection handling into a new ClientConnection class.
+- Improved the ImageDecoder class and added a new ImageEncoder class for handling Cozmo protocol image encoding.
+- Added new examples for displaying images from files and drawing on Cozmo's OLED display.
+- New protocol commands: EnableBodyACC, EnableAnimationState, AnimHead, AnimLift, AnimBackpackLights, AnimBody,
+    StartAnimation, EndAnimation, AnimationStarted, AnimationEnded, DebugData.
+- Initial support for Cozmo animations in FlatBuffer .bin files.
+- Improved filtering through packet groups for pycozmo_dump.py and pycozmo_replay.py .
+- Added type hints in the protocol generator.
+- Bug fixes and documentation improvements.
+
 v0.4.0 (Sep 13, 2019)
 ---------------------
 - New commands: Enable, TurnInPlace, DriveStraight, ButtonPressed, HardwareInfo, BodyInfo, EnableColorImages,

README.md

@@ -21,7 +21,7 @@ import pycozmo
 
 def pycozmo_program(cli):
     pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=0.6)
-    cli.send(pkt)
+    cli.conn.send(pkt)
     time.sleep(1)
 
 pycozmo.run_program(pycozmo_program)
@@ -38,10 +38,10 @@ cli.connect()
 cli.wait_for_robot()
 
 pkt = pycozmo.protocol_encoder.DriveWheels(lwheel_speed_mmps=50.0, rwheel_speed_mmps=50.0) 
-cli.send(pkt)
+cli.conn.send(pkt)
 time.sleep(2.0)
 pkt = pycozmo.protocol_encoder.StopAllMotors()
-cli.send(pkt)
+cli.conn.send(pkt)
 
 cli.disconnect()
 cli.stop()
@@ -54,7 +54,6 @@ Documentation
 - [Cozmo protocol](docs/protocol.md) description
 - [Cozmo function](docs/functions.md) description
 - [Capturing Cozmo communication](docs/capturing.md)
-
 - API documentation: http://pycozmo.readthedocs.io/
 
 
@@ -68,7 +67,9 @@ Examples
 - [cube_lights.py](examples/cube_lights.py) - demonstrates cube connection and LED control
 - [cube_light_animation.py](examples/cube_light_animation.py) - demonstrates cube LED animation control
 - [charger_lights.py](examples/charger_lights.py) - demonstrates Cozmo charging platform LED control
-- [display.py](examples/display.py) - demonstrates low-level visualization of images on Cozmo's display
+- [display_image.py](examples/display_image.py) - demonstrates visualization of image files on Cozmo's display
+- [display_lines.py](examples/display_lines.py) - demonstrates 2D graphics, using
+    [PIL.ImageDraw](https://pillow.readthedocs.io/en/stable/reference/ImageDraw.html) on Cozmo's display
 - [audio.py](examples/audio.py) - demonstrates 22 kHz, 8-bit, mono WAVE file playback through Cozmo's speaker 
 - [events.py](examples/events.py) - demonstrates event handling
 - [camera.py](examples/camera.py) - demonstrates capturing a camera image 
@@ -77,9 +78,11 @@ Examples
 Tools
 -----
 
-- `pycozmo_dump.py` - a command-line application that can read and annotate Cozmo communication from
-    [pcap files](https://en.wikipedia.org/wiki/Pcap)
-- `pycozmo_replay.py` - a basic command-line application that can replay .pcap files back to Cozmo.
+- [pycozmo_dump.py](tools/pycozmo_dump.py) - a command-line application that can read and annotate Cozmo communication
+    from [pcap files](https://en.wikipedia.org/wiki/Pcap) or capture it live using
+    [pypcap](https://github.com/pynetwork/pypcap).
+- [pycozmo_replay.py](tools/pycozmo_replay.py) - a basic command-line application that can replay .pcap files back to
+    Cozmo.
 
 
 Robot Support
@@ -112,6 +115,9 @@ Storage:
 - NVRAM - supported
 - Firmware update - supported
 
+Other:
+- Animations - work in progress
+
 
 Connecting to Cozmo over Wi-Fi
 ------------------------------
@@ -134,12 +140,12 @@ In contrast, an application using PyCozmo basically replaces the Cozmo app and a
 the low-level UDP communication with Cozmo.
    
 ```
-+------------------+                      +------------------+                      +------------------+
-|     SDK app      |      Cozmo SDK       |    Cozmo app     |       PyCozmo        |      Cozmo       |
-|      "game"      |      cozmoclad       |     "engine"     |                      |     "robot"      |
-|                  | +------------------> |   Wi-Fi client   | +------------------> |     Wi-Fi AP     |
-|                  |         USB          |    UDP client    |      UDP/Wi-Fi       |    UDP Server    |
-+------------------+                      +------------------+                      +------------------+
++------------------+                     +------------------+                     +------------------+
+|     SDK app      |      Cozmo SDK      |    Cozmo app     |       PyCozmo       |      Cozmo       |
+|      "game"      |      cozmoclad      |     "engine"     |                     |     "robot"      |
+|                  | ------------------> |   Wi-Fi client   | ------------------> |     Wi-Fi AP     |
+|                  |         USB         |    UDP client    |      UDP/Wi-Fi      |    UDP Server    |
++------------------+                     +------------------+                     +------------------+
 ```
 
 
@@ -163,6 +169,9 @@ Requirements
 ------------
 
 - Python 3.5.4
+- [Pillow](https://github.com/python-pillow/Pillow) 6.0.0 - Python image library
+- [FlatBuffers](https://github.com/google/flatbuffers) - serialization library
+- [dpkt](https://github.com/kbandla/dpkt) - TCP/IP packet parsing library 
 
 
 Installation
@@ -183,9 +192,13 @@ python setup.py install
 ```
 
  
-Bugs
-----
+Support
+-------
 
 Bug reports and patches should be sent via GitHub:
 
 https://github.com/zayfod/pycozmo
+
+Anki Robot Discord server, channel #cozmo:
+
+https://discord.gg/ew92haS

docs/functions.md

@@ -260,3 +260,14 @@ Cube Accelerometers
 `ObjectUpAxisChnaged`
 `ObjectTapped`
 `ObjectTapFiltered`
+
+
+Animations
+----------
+
+`AnimHead`
+`AnimLift`
+`AnimBody`
+`AnimBackpackLights`
+`OutputAudio`
+`Keyframe`

docs/protocol.md

@@ -37,7 +37,7 @@ The app acts as a client and initiates connections. It will only accept packets
 +--------------------+                        +--------------------+
 |     Cozmo app      |                        |       Cozmo        |
 |      "engine"      |        UDP/Wi-Fi       |      "robot"       |
-|    Wi-Fi client    | +--------------------> |      Wi-Fi AP      |
+|    Wi-Fi client    | ---------------------> |      Wi-Fi AP      |
 |     UDP client     |                        |     UDP Server     |
 +--------------------+                        +--------------------+
     172.31.1.0/24                                 172.31.1.1:5551
@@ -68,9 +68,9 @@ Type            Source      Description
 0x01            engine      Reset
 0x02            robot       Reset ACK
 0x03            engine      Disconnect
-0x04            engine      Engine action
-0x07            engine      Engine packets
-0x09            robot       Robot packets
+0x04            engine      Engine packet - single
+0x07            engine      Engine packets - zero or more
+0x09            robot       Robot packets - zero or more
 0x0b            engine      Out-of-band engine ping
 ```
 
@@ -85,7 +85,7 @@ Type    OOB     Source      Description
 ---------------------------------------------------------------------------------
 0x02    n       robot       Connect
 0x03    n       engine      Disconnect
-0x04    n       both        Action
+0x04    n       both        Command
 0x05    y       robot       Event
 0x0a    y       engine      Unknown
 0x0b    y       engine      Ping
@@ -95,9 +95,11 @@ Out of band packets do not get assigned sequence IDs.
 
 Packet content is Cozmo firmware version specific.
 
+Commands and events are identified by an 8-bit ID. IDs in the range 0-0xaf are sent by the engine. IDs in the range
+0xb0-0xff are sent by the robot.
 
-Commands
---------
+IDs in the range 0xf0-0xff are used for out-of-band updates. These are packets that are not tracked by a sequence ID
+and thus not retransmitted. Only their latest received value is considered important. 
 
 ```
 ID                 Min     Max      Name
@@ -120,7 +122,7 @@ ID                 Min     Max      Name
 0x3b	     	     0	     0		StopAllMotors
 0x3d                                DriveStraight             
 0x45	     	    24	    24		                              
-0x4b	     	     8	     8		                              
+0x4b	     	     8	     8      EnableBodyACC		                              
 0x4c	     	     2	     2		EnableCamera                  
 0x50	     	     2	     2		                              
 0x54	     	     2	     2		                              
@@ -142,7 +144,7 @@ ID                 Min     Max      Name
 0x9b	     	     1	     1		                              
 0x9d	     	     1	     1		                              
 0x9e	     	     1	     1		                              
-0x9f	     	     0	     0		                              
+0x9f	     	     0	     0      EnableAnimationState		                              
 0xa0	     	    16	    16		                              
 0xaf	     	  1026	  1026		FirmwareUpdate                
 0xb0	     	     8	    40	*	UnknownB0                     
@@ -169,15 +171,6 @@ ID                 Min     Max      Name
 0xed	     	    12	    12		BodyInfo                      
 0xee	     	   449	   449		FirmwareSignature             
 0xef	     	     7	     7		FirmwareUpdateResult          
-```
-
-
-Events
-------
-
-```
-ID                 Min     Max      Name
----------------------------------------------------------------------------------
 0xf0	    	    91	    91		RobotState                    
 0xf1	    	    15	    15		AnimationState                
 0xf2	    	    24	  1172	*	ImageChunk                    

examples/anim.py

+#!/usr/bin/env python
+
+import pycozmo
+
+
+def pycozmo_program(cli: pycozmo.client.Client):
+    fspec = "com.anki.cozmo/files/cozmo/cozmo_resources/assets/animations/anim_codelab_tap.bin"
+    clips = pycozmo.anim.load_anim_clips(fspec)
+    clip = clips[0]
+    cli.play_anim(clip)
+
+
+pycozmo.run_program(pycozmo_program)

examples/audio.py

@@ -20,7 +20,7 @@ def pycozmo_program(cli: pycozmo.client.Client):
     assert channels == 1
 
     pkt = pycozmo.protocol_encoder.SetRobotVolume(20000)
-    cli.send(pkt)
+    cli.conn.send(pkt)
 
     done = False
     while not done:
@@ -30,7 +30,7 @@ def pycozmo_program(cli: pycozmo.client.Client):
             frame = frame.ljust(744, b"\x80")
 
         pkt = pycozmo.protocol_encoder.OutputAudio(frame)
-        cli.send(pkt)
+        cli.conn.send(pkt)
         time.sleep(0.033742)
 
 

examples/backpack_lights.py

@@ -14,12 +14,7 @@ def pycozmo_program(cli: pycozmo.client.Client):
         pycozmo.lights.off_light,
     ]
     for light in lights:
-        pkt = pycozmo.protocol_encoder.LightStateCenter(states=(light, light, light))
-        cli.send(pkt)
-
-        pkt = pycozmo.protocol_encoder.LightStateSide(states=(light, light))
-        cli.send(pkt)
-
+        cli.set_all_backpack_lights(light)
         time.sleep(2)
 
 

examples/camera.py

@@ -13,18 +13,17 @@ def on_camera_image(cli, image):
 def pycozmo_program(cli: pycozmo.client.Client):
 
     angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
-    pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=angle)
-    cli.send(pkt)
+    cli.set_head_angle(angle)
 
     pkt = pycozmo.protocol_encoder.EnableCamera(enable=True)
-    cli.send(pkt)
+    cli.conn.send(pkt)
     pkt = pycozmo.protocol_encoder.EnableColorImages(enable=True)
-    cli.send(pkt)
+    cli.conn.send(pkt)
 
     # Wait for image to stabilize.
     time.sleep(2.0)
 
-    cli.add_handler(pycozmo.client.EvtNewRawCameraImage, on_camera_image, one_shot=True)
+    cli.add_handler(pycozmo.event.EvtNewRawCameraImage, on_camera_image, one_shot=True)
 
     # Wait for image to be captured.
     time.sleep(1)

examples/charger_lights.py

@@ -18,8 +18,8 @@ def pycozmo_program(cli: pycozmo.client.Client):
 
     print("Connecting to charger...")
     pkt = pycozmo.protocol_encoder.ObjectConnect(factory_id=charger_factory_id, connect=True)
-    cli.send(pkt)
-    cli.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
+    cli.conn.send(pkt)
+    cli.conn.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
     charger_id = list(cli.connected_objects.keys())[0]
     print("Charger connected - ID {}.".format(charger_id))
 
@@ -32,10 +32,10 @@ def pycozmo_program(cli: pycozmo.client.Client):
     for light in lights:
         # Select
         pkt = pycozmo.protocol_encoder.CubeId(object_id=charger_id)
-        cli.send(pkt)
+        cli.conn.send(pkt)
         # Set lights
         pkt = pycozmo.protocol_encoder.CubeLights(states=(light, light, light, pycozmo.lights.off_light))
-        cli.send(pkt)
+        cli.conn.send(pkt)
 
         time.sleep(2)
 

examples/cube_light_animation.py

@@ -18,13 +18,13 @@ def pycozmo_program(cli: pycozmo.client.Client):
 
     print("Connecting to cube...")
     pkt = pycozmo.protocol_encoder.ObjectConnect(factory_id=cube_factory_id, connect=True)
-    cli.send(pkt)
-    cli.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
+    cli.conn.send(pkt)
+    cli.conn.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
     cube_id = list(cli.connected_objects.keys())[0]
     print("Cube connected - ID {}.".format(cube_id))
 
     color = pycozmo.lights.Color(int_color=0x00ff00ff)
-    light = pycozmo.lights.LightState(
+    light = pycozmo.protocol_encoder.LightState(
         on_color=color.to_int16(),
         off_color=pycozmo.lights.off.to_int16(),
         on_frames=5,
@@ -34,14 +34,14 @@ def pycozmo_program(cli: pycozmo.client.Client):
 
     # Select cube
     pkt = pycozmo.protocol_encoder.CubeId(object_id=cube_id, rotation_period_frames=40)
-    cli.send(pkt)
+    cli.conn.send(pkt)
     # Set lights
     pkt = pycozmo.protocol_encoder.CubeLights(states=(
         light,
         pycozmo.lights.off_light,
         pycozmo.lights.off_light,
         pycozmo.lights.off_light))
-    cli.send(pkt)
+    cli.conn.send(pkt)
 
     time.sleep(30.0)
 

examples/cube_lights.py

@@ -18,8 +18,8 @@ def pycozmo_program(cli: pycozmo.client.Client):
 
     print("Connecting to cube...")
     pkt = pycozmo.protocol_encoder.ObjectConnect(factory_id=cube_factory_id, connect=True)
-    cli.send(pkt)
-    cli.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
+    cli.conn.send(pkt)
+    cli.conn.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
     cube_id = list(cli.connected_objects.keys())[0]
     print("Cube connected - ID {}.".format(cube_id))
 
@@ -32,10 +32,10 @@ def pycozmo_program(cli: pycozmo.client.Client):
     for light in lights:
         # Select cube
         pkt = pycozmo.protocol_encoder.CubeId(object_id=cube_id)
-        cli.send(pkt)
+        cli.conn.send(pkt)
         # Set lights
         pkt = pycozmo.protocol_encoder.CubeLights(states=(light, light, light, light))
-        cli.send(pkt)
+        cli.conn.send(pkt)
 
         time.sleep(2)
 

examples/display.py

-#!/usr/bin/env python
-
-import time
-
-import pycozmo
-
-
-def pycozmo_program(cli: pycozmo.client.Client):
-
-    angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
-    pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=angle)
-    cli.send(pkt)
-
-    for _ in range(3):
-        pkt = pycozmo.protocol_encoder.NextFrame()
-        cli.send(pkt)
-        pkt = pycozmo.protocol_encoder.DisplayImage(pycozmo.util.hex_load(
-            "11:9c:b6:a4:98:be:40:94:c6:40:90:ce:5b:94:c6:9c:98:be:a0:"
-            "9c:b6:06:a0:ae:40:9c:b6:40:98:be:5d:9c:b6:40:a0:ae:1b"))
-        cli.send(pkt)
-        time.sleep(1)
-
-        pkt = pycozmo.protocol_encoder.NextFrame()
-        cli.send(pkt)
-        pkt = pycozmo.protocol_encoder.DisplayImage(pycozmo.util.hex_load(
-            "16:a0:b6:41:9c:be:40:98:c6:5b:9c:be:9c:a0:b6:40:06:a4:ae:"
-            "a4:a0:b6:40:9c:be:40:98:c6:5b:9c:be:40:a0:b6:40:16"))
-        cli.send(pkt)
-        time.sleep(1)
-
-
-pycozmo.run_program(pycozmo_program)

examples/display_image.py

+#!/usr/bin/env python
+
+import os
+import time
+
+from PIL import Image
+
+import pycozmo
+
+
+def pycozmo_program(cli: pycozmo.client.Client):
+
+    angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
+    cli.set_head_angle(angle)
+    time.sleep(1)
+
+    # Load image
+    im = Image.open(os.path.join(os.path.dirname(__file__), "..", "assets", "pycozmo.png"))
+    # Convert to binary image.
+    im = im.convert('1')
+
+    cli.display_image(im, 10)
+
+
+pycozmo.run_program(pycozmo_program)

examples/display_lines.py

+#!/usr/bin/env python
+
+import time
+import random
+import itertools
+
+from PIL import Image, ImageDraw
+
+import pycozmo
+
+
+WIDTH = 128
+HEIGHT = 32
+MAX_SPEED = 2
+NUM_DOTS = 3
+DOT_SIZE = 1
+LINE_WIDTH = 1
+DELAY = 1 / 25
+
+
+class Dot(object):
+
+    def __init__(self, x: int, y: int, vx: int, vy: int):
+        self.x = x
+        self.y = y
+        self.vx = vx
+        self.vy = vy
+
+
+def pycozmo_program(cli: pycozmo.client.Client):
+
+    angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
+    cli.set_head_angle(angle)
+    time.sleep(1)
+
+    # Generate random dots.
+    dots = []
+    for i in range(NUM_DOTS):
+        x = random.randint(0, WIDTH)
+        y = random.randint(0, HEIGHT)
+        vx = random.randint(-MAX_SPEED, MAX_SPEED)
+        vy = random.randint(-MAX_SPEED, MAX_SPEED)
+        dot = Dot(x, y, vx, vy)
+        dots.append(dot)
+
+    while True:
+
+        # Create a blank image.
+        im = Image.new("1", (128, 32), color=0)
+
+        # Draw lines.
+        draw = ImageDraw.Draw(im)
+        for a, b in itertools.combinations(dots, 2):
+            draw.line((a.x, a.y, b.x, b.y), width=LINE_WIDTH, fill=1)
+
+        # Move dots.
+        for dot in dots:
+            dot.x += dot.vx
+            dot.y += dot.vy
+            if dot.x <= DOT_SIZE:
+                dot.x = DOT_SIZE
+                dot.vx = abs(dot.vx)
+            elif dot.x >= WIDTH - DOT_SIZE:
+                dot.x = WIDTH - DOT_SIZE
+                dot.vx = -abs(dot.vx)
+            if dot.y <= DOT_SIZE:
+                dot.y = DOT_SIZE
+                dot.vy = abs(dot.vy)
+            elif dot.y >= HEIGHT - DOT_SIZE:
+                dot.y = HEIGHT - DOT_SIZE
+                dot.vy = -abs(dot.vy)
+
+        cli.display_image(im, DELAY)
+
+
+pycozmo.run_program(pycozmo_program)

examples/events.py

@@ -65,15 +65,15 @@ def on_robot_wheels_moving(cli, state):
 
 def pycozmo_program(cli: pycozmo.client.Client):
 
-    cli.add_handler(pycozmo.protocol_encoder.RobotState, on_robot_state, one_shot=True)
-    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.protocol_encoder.ButtonPressed, on_button_pressed)
-    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)
+    cli.conn.add_handler(pycozmo.protocol_encoder.RobotState, on_robot_state, one_shot=True)
+    cli.conn.add_handler(pycozmo.protocol_encoder.RobotPoked, on_robot_poked)
+    cli.conn.add_handler(pycozmo.protocol_encoder.FallingStarted, on_robot_falling_started)
+    cli.conn.add_handler(pycozmo.protocol_encoder.FallingStopped, on_robot_falling_stopped)
+    cli.conn.add_handler(pycozmo.protocol_encoder.ButtonPressed, on_button_pressed)
+    cli.add_handler(pycozmo.event.EvtRobotPickedUpChange, on_robot_picked_up)
+    cli.add_handler(pycozmo.event.EvtRobotChargingChange, on_robot_charging)
+    cli.add_handler(pycozmo.event.EvtCliffDetectedChange, on_cliff_detected)
+    cli.add_handler(pycozmo.event.EvtRobotWheelsMovingChange, on_robot_wheels_moving)
 
     while True:
         try:

examples/extremes.py

@@ -7,17 +7,15 @@ import pycozmo
 
 def pycozmo_program(cli: pycozmo.client.Client):
 
-    cli.send(pycozmo.protocol_encoder.SetHeadAngle(angle_rad=pycozmo.MAX_HEAD_ANGLE.radians))
+    cli.set_head_angle(pycozmo.MAX_HEAD_ANGLE.radians)
     time.sleep(1)
-    cli.send(pycozmo.protocol_encoder.SetHeadAngle(angle_rad=pycozmo.MIN_HEAD_ANGLE.radians))
+    cli.set_head_angle(pycozmo.MIN_HEAD_ANGLE.radians)
     time.sleep(1)
-    cli.send(pycozmo.protocol_encoder.DriveHead())
 
-    cli.send(pycozmo.protocol_encoder.SetLiftHeight(height_mm=pycozmo.MAX_LIFT_HEIGHT.mm))
+    cli.set_lift_height(pycozmo.MAX_LIFT_HEIGHT.mm)
     time.sleep(1)
-    cli.send(pycozmo.protocol_encoder.SetLiftHeight(height_mm=pycozmo.MIN_LIFT_HEIGHT.mm))
+    cli.set_lift_height(pycozmo.MIN_LIFT_HEIGHT.mm)
     time.sleep(1)
-    cli.send(pycozmo.protocol_encoder.DriveLift())
 
 
 pycozmo.run_program(pycozmo_program)

examples/rc.py

@@ -147,8 +147,7 @@ class RCApp(object):
         self.cli.wait_for_robot()
         # Raise head
         angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) * 0.1
-        pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=angle)
-        self.cli.send(pkt)
+        self.cli.set_head_angle(angle)
         time.sleep(0.5)
         return True
 
@@ -156,7 +155,7 @@ class RCApp(object):
         """ Terminate application. """
         logging.info("Terminating...")
 
-        self.cli.send(pycozmo.protocol_encoder.StopAllMotors())
+        self.cli.stop_all_motors()
         self.cli.disconnect()
         self.cli.stop()
 
@@ -182,14 +181,14 @@ class RCApp(object):
 
     def _drive_lift(self, speed):
         if self.lift:
-            self.cli.send(pycozmo.protocol_encoder.DriveLift(speed))
+            self.cli.move_lift(speed)
         else:
-            self.cli.send(pycozmo.protocol_encoder.DriveHead(speed))
+            self.cli.move_head(speed)
 
     def _drive_wheels(self, speed_left, speed_right):
         lw = int(speed_left * pycozmo.MAX_WHEEL_SPEED.mmps)
         rw = int(speed_right * pycozmo.MAX_WHEEL_SPEED.mmps)
-        self.cli.send(pycozmo.protocol_encoder.DriveWheels(lwheel_speed_mmps=lw, rwheel_speed_mmps=rw))
+        self.cli.drive_wheels(lwheel_speed=lw, rwheel_speed=rw)
 
     @staticmethod
     def _get_motor_thrust(r, theta):

pycozmo/CozmoAnim/AnimClip.py

+# automatically generated by the FlatBuffers compiler, do not modify
+
+# namespace: CozmoAnim
+
+import flatbuffers
+
+class AnimClip(object):
+    __slots__ = ['_tab']
+
+    @classmethod
+    def GetRootAsAnimClip(cls, buf, offset):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, offset)
+        x = AnimClip()
+        x.Init(buf, n + offset)