Eye/display problem

[snowgoon88]

Hello everyone,

I think I have some problem with displaying things on my cozmo...

Preliminary : using the Anki android application, I have no problem with Cozmo display (display wifi info before logging, expressive eyes, games...).

When I run the pycozmo examples dealing with display:

• display_image.py : shows "Pycozmo" but sometimes also "strange" lines, like truncated diagonales (as if some values where also written in the display memory buffer).
• display_lines.py : works ok I think. I see a moving triangle

But, I have a black screen when I try:

• procedural_face.py
• procedural_face_expressions.py

(I have checked that procedural_face_show.py displays an image with two eyes using PIL on MY screen.

Besides, and I do not know if it is related, but I think that my first tries with pycozmo.client, the robot was displaying random eyes (a bit like the Andy app). Now, it keeps a black screen.

So I have questions (and maybe I'm using the pycozmo module the wrong way).

1. How can I debug the procedural_face and procedural_face_expressions scripts ? They should display something on the cozmo, no ?

2. What is the use of the enable_procedural_face=False while connecting to the client in these 2 scripts. I tend to think it is to stop the default display of random eyes. But in my case, with other application/examples, when it is set to True by default, nothing happens : black display for cozmo.

3. What am I doing wrong ? (Or what did I do wrong to make the default procedural face to be shut down "permanently" ?)

Snow/Alain

=========================

Some info on robot and software

Python 3.7.3 (default, Jul 25 2020, 13:03:44)
[GCC 8.3.0] on linux

pycozmo.version=0.8.0

When connecting to Cozmo:
021-01-24 19:12:45.050 pycozmo.protocol INFO Recv: 17B, 0F (disc.), 1F, 1P, 1P (100.00%); Sent: 0P, 0P (0.00%), 0F, 0F (disc.), 0B;
2021-01-24 19:12:45.074 pycozmo.general INFO Firmware version 2381.
2021-01-24 19:12:45.107 pycozmo.general INFO Body S/N 0x0ca05935, HW version 4, color 0.
2021-01-24 19:12:52.150 pycozmo.general INFO Done.

[faildproject]

I have an other Problem with cli.display_image(im, 5.0), the duration time has no effect. Cozmo Displays the Image but falling back to eyes before duration time is finished.
I injected simply print("duration start" ) and print("duration stop") to the display_image function.
The sleep Part works but cozmo clears the Display before sleep finished.

[gimait]

Hi @snowgoon88!

I am not sure why you are seeing these issues. I have been trying to reproduce them now in a couple of cozmos and python versions, but things seem to be fine on my side.

From what you comment and looking around the code, I am thinking that the issue might be with the conversion from array (that comes from the procedural face generator) to PIL Images, or when loading the image in the ImageEncoder.

About your questions:

1. Debugging pycozmo and most of the scripts is not trivial, since stopping the scripts at any time makes the connection to the robot drop, which makes debugging a bit difficult. Nevertheless, you can easily try to debug it with any typical python debugging tool, if you clone the repository and run the scripts from there. The procedural_face and procedural_face_expressions scripts are quite similar: They work very much the same as the display_image, only using a generated image instead of one loaded from a file. This way, procedural_face loads a single image while procedural_face_expressions loads images of each expression and intermediate states are generated and sent to the robot. Both scripts should show cozmo's eyes with different expressions.

2. The enable_procedural_face flag is used to control wether the automatic generation of faces for cozmo is enabled. This is a feature more complex than what is shown in the example files, where you can load a procedural face statically. When enable_procedural_face is True, the robot will show its eyes moving as long as no other animation is shown. In the procedural_face and procedural_face_expressions scripts, this feature is disabled so that you can test different expressions without being confused by other movements of the eyes that might happen before or after the animation.

3. I wish I knew hahaha Now seriously, I believe something might be failing with PIL, but I'm not sure. How have you installed the package? what version of PIL and Pillow do you have installed?

---

Hey @faildproject, I took a look at the issue you mentioned. I am working on a fix for it now, it is actually a quite small issue so we should have it ready soon.

[ADebor]

Hi all !

Looks like I have issues similar to Snowgoon's when trying to display messages on Cozmo's screen. As a matter of fact, I think we may both have the exact same problem, as I also get strange diagonals, and can't see no eyes... and just like Snowgoon, display_lines.py works fine.

I know this issue is opened for quite a long time now, but any help would be greatly appreciated. In particular, if @snowgoon88 solved the problem, please let me know !

Thank you in advance !

---

For all intents and purposes, here's what I get when running one of the examples:

2022-02-09 13:51:18.898 pycozmo.general INFO Firmware version 2381.
2022-02-09 13:51:18.944 pycozmo.general INFO Body S/N 0x43216893, HW version 5, color 3.
2022-02-09 13:51:36.374 pycozmo.general INFO Done.

and here are the packages and versions I'm using (with Python 3.7.0):

Package	Version
dpkt	1.9.7.2
flatbuffers	2.0
numpy	1.21.5
Pillow	6.0.0
pip	22.0.3
pycozmo	0.8.0
setuptools	60.6.0
wheel	0.37.1

---

EDIT: problem solved

I updated Pillow to the latest version, and it worked fine. I had installed version 6.0.0 as mentioned in the requirements field in Pycozmo's main README, turned out it wasn't the good one, apparently. I don't know if the issue I was facing is linked in a way or another to any of my other local specs, but if Pillow v. 6.0.0 used in conjunction with Python/PyCozmo/Packages versions specified above yields reproducible similar problems, it might be worth mentioning it in the README.

Hope this can help,
Antoine