15-494/694 Cognitive Robotics Lab 12:
Cozmo's Magic Dream House

I. Software Update, SDK Update, and Initial Setup

At the beginning of every lab you should update your copy of the cozmo-tools package. Do this:

$ cd ~/cozmo-tools
$ git pull

II. Experiments with the Dream House

1. Make a lab12 directory.

2. Copy the file DreamHouse.fsm from the class lab12 directory to your lab12 directory.

3. Examine the code in DreamHouse.fsm.

   . This code is partially converted from last year's version, because there have been changes to the way cozmo-tools describes walls, doorways, and rooms.

   Run this code after doing "show path_viewer" and see the result.

III. Enhancements to the Dream House

1. Complete the conversion of the third floor layout to the new format.

2. Rooms are now described using a four-vertex convex polygon. Redo the representation of rooms in the file to adhere to this new convention.

3. Write a VisitRoom node that pilots to a room given the room name.

4. Write code to get Cozmo to take the elevator to another floor.

Hand In

Coming soon.