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A pure-Python communication library, alternative SDK, and application for the Cozmo robot.

Project description


PyCozmo is a pure-Python communication library, alternative SDK, and application for the Cozmo robot . It allows controlling a Cozmo robot directly, without having to go through a mobile device, running the Cozmo app.

The library is loosely based on the Anki Cozmo Python SDK and the cozmoclad ("C-Like Abstract Data") library.

This project is a tool for exploring the hardware and software of the Digital Dream Labs (originally Anki) Cozmo robot. It is unstable and heavily under development.



import time
import pycozmo

with pycozmo.connect() as cli:


import pycozmo

cli = pycozmo.Client()

cli.drive_wheels(lwheel_speed=50.0, rwheel_speed=50.0, duration=2.0)



Robot Support


  • Camera
  • Cliff sensor
  • Accelerometers
  • Gyro
  • Battery voltage
  • Cube battery voltage
  • Cube accelerometers
  • Backpack button (v1.5 hardware and newer)


  • Wheel motors
  • Head motor
  • Lift motor
  • OLED display
  • Speaker
  • Backpack LEDs
  • IR LED
  • Cube LEDs
  • Platform LEDs (when available)

On-board functions (see docs/ for details:

  • Wi-Fi AP
  • Bluetooth LE
  • Localization
  • Path tracking
  • NV RAM storage
  • Over-the-air (OTA) firmware updates

Off-board functions (see docs/ for details:

  • Procedural face generation
  • Cozmo animations from FlatBuffers .bin files
  • Personality engine - work in progress
  • Cozmo behaviors - work in progress
  • Motion detection
  • Object (cube and platform) detection
  • Cube marker recognition
  • Face detection
  • Face recognition
  • Facial expression estimation
  • Pet detection
  • Camera calibration
  • Navigation map building
  • Text-to-speech
  • Songs

Extra off-board functions:

  • Vector animations from FlatBuffers .bin files
  • Vector behaviors
  • ArUco marker recognition
  • Cozmo and Vector robot detection
  • Drivable area estimation
  • Voice commands

If you have ideas for other functionality share them via GitHub.


Note: PyCozmo and in particular could be used as a base for creating a Cozmo protocol encoder code generator for languages other than Python (C/C++, Java, etc.).



  • - minimal code to communicate with Cozmo, using PyCozmo
  • - demonstrates Cozmo lift and head control
  • - demonstrates Cozmo backpack LED control
  • - demonstrates visualization of image files on Cozmo's display
  • - demonstrates event handling
  • - demonstrates capturing a camera image
  • - demonstrates moving to a specific pose (position and orientation)
  • - demonstrates following a predefined path


PyCozmo In The Wild

Connecting to Cozmo over Wi-Fi

A Wi-Fi connection needs to be established with Cozmo before using PyCozmo applications.

  1. Wake up Cozmo by placing it on the charging platform
  2. Make Cozmo display it's Wi-Fi PSK by rising and lowering its lift
  3. Scan for Cozmo's Wi-Fi SSID (depends on the OS)
  4. Connect using Cozmo's Wi-Fi PSK (depends on the OS)

This video summarizes the connection process.

PyCozmo vs. the Cozmo SDK

A Cozmo SDK application (aka "game") acts as a client to the Cozmo app (aka "engine") that runs on a mobile device. The low-level communication happens over USB and is handled by the cozmoclad library.

In contrast, an application using PyCozmo basically replaces the Cozmo app and acts as the "engine". PyCozmo handles the low-level UDP communication with Cozmo.

+------------------+                   +------------------+                   +------------------+
|     SDK app      |     Cozmo SDK     |    Cozmo app     |       Cozmo       |      Cozmo       |
|      "game"      |     cozmoclad     |     "engine"     |      protocol     |     "robot"      |
|                  | ----------------> |   Wi-Fi client   | ----------------> |     Wi-Fi AP     |
|                  |        USB        |    UDP client    |     UDP/Wi-Fi     |    UDP Server    |
+------------------+                   +------------------+                   +------------------+



Using pip:

pip install --user pycozmo download

From source:

git clone
cd pycozmo
python install --user download

From source, for development:

git clone
cd pycozmo
python develop --user
pip install --user -r requirements-dev.txt download


Bug reports and changes should be sent via GitHub:

DDL Robot Discord server, channel #development-cozmo:


This project is not affiliated with Digital Dream Labs or Anki.

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