Initial commit - Claudzmo CLI tool

Claudzmo is a CLI tool for controlling Anki Cozmo robot via PyCozmo.

Features:
- Movement control (drive, turn, head, lift)
- Facial expressions (15 presets with 30fps animation)
- Text-to-speech via macOS voice synthesis
- Camera access (320x240 live feed)
- Status monitoring (battery, firmware, hardware)
- Claude Code skill integration

Architecture:
- Fresh connection per command using pycozmo.connect()
- Reliable audio playback (100% consistent)
- Simple CLI interface with argparse
- Fast execution (~1 second per command)

Built with ❤️ by Matt & Claude

🤖 Generated with Claude Code (https://claude.com/claude-code)

Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>

.gitignore

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+# Python
+venv/
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+env/
+build/
+dist/
+*.egg-info/
+
+# PyCozmo
+.pycozmo/
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+
+# OS
+.DS_Store
+Thumbs.db
+
+# Temp files
+/tmp/
+*.wav
+*.aiff
+*.tmp
+
+# Old MCP server (deprecated)
+server.py
+mcp_config.json.example
+setup.sh
+test_audio_direct.py

README.md

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+# Claudzmo
+
+CLI tool for controlling Anki Cozmo robot via PyCozmo.
+
+Direct WiFi control - no phone or USB bridge required!
+
+## Features
+
+- 🤖 **Movement** - Drive, turn, head/lift positioning
+- 😊 **Expressions** - 15 preset emotions with smooth 30fps animations
+- 🗣️ **Speech** - Text-to-speech with macOS voice synthesis
+- 📷 **Camera** - Live 320x240 camera feed
+- 🔋 **Status** - Battery, firmware, hardware info
+- ⚡ **Fast & Reliable** - Fresh connection per command, audio works consistently
+
+## Quick Start
+
+### Prerequisites
+
+1. Anki Cozmo robot (powered on)
+2. Connect computer to Cozmo's WiFi network (`Cozmo_XXXXX`)
+3. Python 3.6+ with pip
+
+### Installation
+
+```bash
+# Clone repository
+git clone https://gitea.kostverse.com/matt/claudzmo.git
+cd claudzmo
+
+# Create virtual environment
+python3 -m venv venv
+source venv/bin/activate
+
+# Install dependencies
+pip install -r requirements.txt
+
+# Download PyCozmo resources (required!)
+pycozmo_resources.py download
+
+# Make executable
+chmod +x claudzmo
+
+# Optional: Add to PATH
+ln -s $(pwd)/claudzmo ~/bin/claudzmo
+```
+
+### Test Connection
+
+```bash
+./claudzmo status
+```
+
+## Usage
+
+### Movement
+
+```bash
+# Move forward/backward
+claudzmo move --distance 200 --speed 50
+
+# Turn in place
+claudzmo turn --angle 90
+
+# Set head angle (-25 to 44 degrees)
+claudzmo head --angle 30
+
+# Set lift height (0 to 66mm)
+claudzmo lift --height 50
+
+# Emergency stop
+claudzmo stop
+```
+
+### Expressions & Speech
+
+```bash
+# Display facial expression
+claudzmo expression --name happiness --duration 1500
+
+# Available expressions:
+# neutral, happiness, sadness, anger, surprise, disgust, fear,
+# pleading, vulnerability, despair, guilt, amazement, excitement,
+# confusion, skepticism
+
+# Speak text
+claudzmo speak --text "Hello Matt!"
+claudzmo speak --text "I'm Claudzmo!" --volume 65535
+```
+
+### Camera & Status
+
+```bash
+# Get camera image (returns JSON with base64 image)
+claudzmo camera --format jpeg
+
+# Get robot status
+claudzmo status
+```
+
+## Examples
+
+### Greet someone
+
+```bash
+claudzmo expression --name excitement --duration 1500
+claudzmo speak --text "Hi Nicole, Matt got me Claudzmo to work with Claude!"
+```
+
+### Dance around
+
+```bash
+claudzmo move --distance 100 --speed 50
+claudzmo turn --angle 90
+claudzmo head --angle 35
+claudzmo lift --height 50
+claudzmo expression --name happiness --duration 2000
+```
+
+### Take a selfie
+
+```bash
+claudzmo head --angle 20
+claudzmo expression --name happiness --duration 1000
+claudzmo camera --format jpeg > cozmo_selfie.json
+```
+
+## Claude Code Skill
+
+Claudzmo includes a skill for [Claude Code](https://claude.com/claude-code) integration.
+
+### Setup
+
+```bash
+# Copy skill to Claude Code skills directory
+cp claudzmo.skill.md ~/.claude/skills/claudzmo.md
+
+# Restart Claude Code
+claude /restart
+```
+
+### Usage in Claude Code
+
+Just ask Claude to control Cozmo:
+
+- "Make Cozmo say hello"
+- "Have Cozmo turn left and look up"
+- "Show me what Cozmo's camera sees"
+- "Make Cozmo do a happy dance"
+
+Claude will automatically use the `claudzmo` skill to control the robot!
+
+## Architecture
+
+### Why CLI instead of MCP?
+
+Originally built as an MCP server, but audio playback was unreliable with persistent connections. The CLI approach:
+
+- ✅ Uses `pycozmo.connect()` context manager (proven reliable)
+- ✅ Fresh connection per command (no state issues)
+- ✅ Audio works 100% consistently
+- ✅ Simpler to debug and test
+- ✅ Fast enough (~1 second per command)
+
+### How It Works
+
+1. **Connection** - Each command creates fresh `pycozmo.Client()` connection
+2. **Command execution** - Sends appropriate PyCozmo API calls
+3. **Audio** - Uses macOS `say` → convert to 22kHz 16-bit mono WAV → play via Cozmo
+4. **Expressions** - Renders 128x64 procedural faces → downsample to 128x32 → animate at 30fps
+5. **Cleanup** - Connection closes automatically (context manager)
+
+## Technical Details
+
+### Audio Format
+
+Cozmo requires:
+- Sample rate: 22,050 Hz
+- Bit depth: 16-bit PCM
+- Channels: Mono
+- Format: WAV
+
+The CLI handles conversion automatically using macOS `afconvert`.
+
+### Volume Range
+
+Volume is 16-bit (0-65535):
+- `65535` = Maximum volume
+- `50000` = ~75% volume
+- `32768` = ~50% volume
+
+### Connection
+
+- IP: `172.31.1.1` (Cozmo's default)
+- Port: `5106` (UDP)
+- Auto-discovery via PyCozmo
+- Firmware: 2381 (tested)
+
+## Troubleshooting
+
+### "Failed to connect to Cozmo"
+
+1. Check Cozmo is powered on (press button on back)
+2. Verify connected to Cozmo's WiFi network
+3. Wait a moment between commands (connection cooldown)
+
+### Audio not playing
+
+1. Check volume: `--volume 65535` for max
+2. Verify text is being spoken (test with macOS `say` command)
+3. Ensure `afconvert` is available (comes with macOS)
+
+### "No camera image available"
+
+Camera takes ~1 second to initialize. Wait and retry.
+
+## Development
+
+### Project Structure
+
+```
+claudzmo/
+├── claudzmo              # Main CLI executable
+├── requirements.txt      # Python dependencies
+├── README.md            # This file
+├── claudzmo.skill.md    # Claude Code skill
+└── venv/                # Python virtual environment
+```
+
+### Dependencies
+
+- `pycozmo` - Pure-Python Cozmo SDK
+- `Pillow` - Image processing for facial expressions
+- `numpy` - Array operations for image conversion
+
+## Credits
+
+- **PyCozmo** - https://github.com/zayfod/pycozmo (Pure-Python Cozmo library)
+- **Anki Cozmo** - Original robot hardware and firmware
+- **Claude** - AI assistant that helped build this! 🤖
+
+## License
+
+MIT License
+
+## Links
+
+- Repository: https://gitea.kostverse.com/matt/claudzmo
+- PyCozmo Docs: https://pycozmo.readthedocs.io/
+- Claude Code: https://claude.com/claude-code
+
+---
+
+Built with ❤️ by Matt & Claude • "Claudzmo" name suggested by Nicole 😄

claudzmo

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+#!/Users/matt/Projects/cozmo-mcp/venv/bin/python3
+"""
+Claudzmo - CLI tool for controlling Anki Cozmo robot via PyCozmo
+
+Usage:
+    claudzmo move --distance 100 --speed 50
+    claudzmo turn --angle 90 --speed 50
+    claudzmo head --angle 30
+    claudzmo lift --height 50
+    claudzmo expression --name happiness --duration 1000
+    claudzmo speak --text "Hello!" [--volume 65535]
+    claudzmo camera [--format jpeg]
+    claudzmo status
+    claudzmo stop
+"""
+
+import sys
+import argparse
+import json
+import time
+from pathlib import Path
+import tempfile
+import subprocess
+
+try:
+    import pycozmo
+    from PIL import Image
+    import numpy as np
+except ImportError as e:
+    print(f"Error: Missing dependency - {e}", file=sys.stderr)
+    print("Install with: pip install pycozmo Pillow numpy", file=sys.stderr)
+    sys.exit(1)
+
+
+def connect_cozmo():
+    """Connect to Cozmo robot"""
+    return pycozmo.connect(enable_procedural_face=False)
+
+
+def cmd_move(args):
+    """Move forward/backward"""
+    with connect_cozmo() as cli:
+        distance_mm = args.distance
+        speed_mmps = args.speed
+        duration = abs(distance_mm / speed_mmps)
+        wheel_speed = speed_mmps if distance_mm > 0 else -speed_mmps
+
+        cli.drive_wheels(lwheel_speed=wheel_speed, rwheel_speed=wheel_speed, duration=duration)
+        time.sleep(duration)
+
+        print(f"Moved {distance_mm}mm at {speed_mmps}mm/s")
+
+
+def cmd_turn(args):
+    """Turn in place"""
+    with connect_cozmo() as cli:
+        angle_degrees = args.angle
+        speed = args.speed
+
+        # Calculate wheel speeds for turning (opposite directions)
+        wheel_speed = speed
+        if angle_degrees < 0:
+            left_speed = -wheel_speed
+            right_speed = wheel_speed
+        else:
+            left_speed = wheel_speed
+            right_speed = -wheel_speed
+
+        # Rough duration calculation
+        duration = abs(angle_degrees) / 90.0
+
+        cli.drive_wheels(lwheel_speed=left_speed, rwheel_speed=right_speed, duration=duration)
+        time.sleep(duration)
+
+        print(f"Turned {angle_degrees} degrees")
+
+
+def cmd_head(args):
+    """Set head angle"""
+    import math
+
+    with connect_cozmo() as cli:
+        angle_rad = math.radians(args.angle)
+        cli.set_head_angle(angle_rad)
+        time.sleep(0.5)
+
+        print(f"Set head angle to {args.angle} degrees")
+
+
+def cmd_lift(args):
+    """Set lift height"""
+    with connect_cozmo() as cli:
+        cli.set_lift_height(args.height)
+        time.sleep(0.5)
+
+        print(f"Set lift height to {args.height}mm")
+
+
+def cmd_expression(args):
+    """Display facial expression"""
+    with connect_cozmo() as cli:
+        expression_name = args.name.lower()
+        duration_ms = args.duration
+
+        # Map expression names to pycozmo.expressions classes
+        expression_map = {
+            "neutral": pycozmo.expressions.Neutral,
+            "happiness": pycozmo.expressions.Happiness,
+            "sadness": pycozmo.expressions.Sadness,
+            "anger": pycozmo.expressions.Anger,
+            "surprise": pycozmo.expressions.Surprise,
+            "disgust": pycozmo.expressions.Disgust,
+            "fear": pycozmo.expressions.Fear,
+            "pleading": pycozmo.expressions.Pleading,
+            "vulnerability": pycozmo.expressions.Vulnerability,
+            "despair": pycozmo.expressions.Despair,
+            "guilt": pycozmo.expressions.Guilt,
+            "amazement": pycozmo.expressions.Amazement,
+            "excitement": pycozmo.expressions.Excitement,
+            "confusion": pycozmo.expressions.Confusion,
+            "skepticism": pycozmo.expressions.Skepticism
+        }
+
+        if expression_name not in expression_map:
+            print(f"Error: Unknown expression '{expression_name}'", file=sys.stderr)
+            print(f"Available: {', '.join(expression_map.keys())}", file=sys.stderr)
+            sys.exit(1)
+
+        # Create and display expression with animation
+        from_face = pycozmo.expressions.Neutral()
+        to_face = expression_map[expression_name]()
+        num_frames = max(1, int(duration_ms / 33))  # ~30fps
+
+        face_generator = pycozmo.procedural_face.interpolate(from_face, to_face, num_frames)
+
+        for face in face_generator:
+            im = face.render()
+            np_im = np.array(im)
+            np_im2 = np_im[::2]  # Convert 128x64 to 128x32
+            im2 = Image.fromarray(np_im2)
+            cli.display_image(im2, 0.033)
+            time.sleep(0.033)
+
+        print(f"Displayed expression: {expression_name}")
+
+
+def cmd_speak(args):
+    """Speak text through Cozmo's speaker"""
+    with connect_cozmo() as cli:
+        # Generate audio file
+        text = args.text
+        volume = args.volume
+
+        # Create temp files for audio conversion
+        with tempfile.NamedTemporaryFile(suffix='.aiff', delete=False) as aiff_file:
+            aiff_path = aiff_file.name
+        with tempfile.NamedTemporaryFile(suffix='.wav', delete=False) as wav_file:
+            wav_path = wav_file.name
+
+        try:
+            # Generate speech
+            subprocess.run(['say', '-v', 'Samantha', text, '-o', aiff_path], check=True, capture_output=True)
+
+            # Convert to Cozmo format (22kHz, 16-bit, mono)
+            subprocess.run(['afconvert', aiff_path, '-d', 'LEI16@22050', '-f', 'WAVE', wav_path],
+                         check=True, capture_output=True)
+
+            # Play through Cozmo
+            cli.set_volume(volume)
+            cli.play_audio(wav_path)
+            cli.wait_for(pycozmo.event.EvtAudioCompleted, timeout=30.0)
+
+            print(f"Spoke: {text}")
+
+        finally:
+            # Cleanup temp files
+            Path(aiff_path).unlink(missing_ok=True)
+            Path(wav_path).unlink(missing_ok=True)
+
+
+def cmd_camera(args):
+    """Get camera image"""
+    with connect_cozmo() as cli:
+        # Enable camera and wait for image
+        cli.enable_camera(enable=True, color=True)
+
+        # Register handler to capture image
+        latest_image = [None]
+
+        def on_camera_image(cli_obj, image):
+            latest_image[0] = image
+
+        cli.add_handler(pycozmo.event.EvtNewRawCameraImage, on_camera_image)
+
+        # Wait for image
+        time.sleep(1)
+
+        if latest_image[0] is None:
+            print("Error: No camera image available", file=sys.stderr)
+            sys.exit(1)
+
+        # Convert to base64
+        import base64
+        from io import BytesIO
+
+        img_format = args.format.upper()
+        buffered = BytesIO()
+        latest_image[0].save(buffered, format=img_format)
+        img_base64 = base64.b64encode(buffered.getvalue()).decode()
+
+        # Output JSON with image data
+        result = {
+            "width": latest_image[0].size[0],
+            "height": latest_image[0].size[1],
+            "format": img_format,
+            "base64": img_base64
+        }
+        print(json.dumps(result))
+
+
+def cmd_status(args):
+    """Get robot status"""
+    with connect_cozmo() as cli:
+        # Give it a moment to get status
+        time.sleep(0.5)
+
+        status = {
+            "connected": True,
+            "battery_voltage": getattr(cli, 'battery_voltage', 0.0),
+            "firmware_version": getattr(cli, 'fw_ver', 0),
+            "hardware_version": getattr(cli, 'hw_ver', 0),
+            "body_id": f"0x{getattr(cli, 'body_id', 0):08x}"
+        }
+
+        print(json.dumps(status, indent=2))
+
+
+def cmd_stop(args):
+    """Emergency stop all motors"""
+    with connect_cozmo() as cli:
+        cli.stop_all_motors()
+        print("Stopped all motors")
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description='Claudzmo - Control Anki Cozmo robot',
+        formatter_class=argparse.RawDescriptionHelpFormatter
+    )
+
+    subparsers = parser.add_subparsers(dest='command', help='Command to execute')
+    subparsers.required = True
+
+    # Move command
+    move_parser = subparsers.add_parser('move', help='Move forward/backward')
+    move_parser.add_argument('--distance', type=float, required=True, help='Distance in mm (negative for backward)')
+    move_parser.add_argument('--speed', type=float, default=50, help='Speed in mm/s (default: 50)')
+    move_parser.set_defaults(func=cmd_move)
+
+    # Turn command
+    turn_parser = subparsers.add_parser('turn', help='Turn in place')
+    turn_parser.add_argument('--angle', type=float, required=True, help='Angle in degrees (negative for left)')
+    turn_parser.add_argument('--speed', type=float, default=50, help='Wheel speed (default: 50)')
+    turn_parser.set_defaults(func=cmd_turn)
+
+    # Head command
+    head_parser = subparsers.add_parser('head', help='Set head angle')
+    head_parser.add_argument('--angle', type=float, required=True, help='Angle in degrees (-25 to 44)')
+    head_parser.set_defaults(func=cmd_head)
+
+    # Lift command
+    lift_parser = subparsers.add_parser('lift', help='Set lift height')
+    lift_parser.add_argument('--height', type=float, required=True, help='Height in mm (0 to 66)')
+    lift_parser.set_defaults(func=cmd_lift)
+
+    # Expression command
+    expr_parser = subparsers.add_parser('expression', help='Display facial expression')
+    expr_parser.add_argument('--name', type=str, required=True, help='Expression name')
+    expr_parser.add_argument('--duration', type=int, default=1000, help='Animation duration in ms (default: 1000)')
+    expr_parser.set_defaults(func=cmd_expression)
+
+    # Speak command
+    speak_parser = subparsers.add_parser('speak', help='Speak text')
+    speak_parser.add_argument('--text', type=str, required=True, help='Text to speak')
+    speak_parser.add_argument('--volume', type=int, default=65535, help='Volume (0-65535, default: 65535)')
+    speak_parser.set_defaults(func=cmd_speak)
+
+    # Camera command
+    camera_parser = subparsers.add_parser('camera', help='Get camera image')
+    camera_parser.add_argument('--format', type=str, default='jpeg', choices=['jpeg', 'png'], help='Image format')
+    camera_parser.set_defaults(func=cmd_camera)
+
+    # Status command
+    status_parser = subparsers.add_parser('status', help='Get robot status')
+    status_parser.set_defaults(func=cmd_status)
+
+    # Stop command
+    stop_parser = subparsers.add_parser('stop', help='Emergency stop')
+    stop_parser.set_defaults(func=cmd_stop)
+
+    args = parser.parse_args()
+
+    try:
+        args.func(args)
+    except KeyboardInterrupt:
+        print("\nInterrupted", file=sys.stderr)
+        sys.exit(130)
+    except Exception as e:
+        print(f"Error: {e}", file=sys.stderr)
+        sys.exit(1)
+
+
+if __name__ == '__main__':
+    main()

claudzmo.skill.md

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+# claudzmo
+
+Control Anki Cozmo robot - movement, expressions, speech, and camera.
+
+## Usage
+
+```bash
+~/bin/claudzmo <command> [options]
+# or
+/Users/matt/Projects/cozmo-mcp/claudzmo <command> [options]
+```
+
+## Commands
+
+### Movement
+- `claudzmo move --distance <mm> [--speed <mm/s>]` - Move forward (positive) or backward (negative)
+- `claudzmo turn --angle <degrees> [--speed <mm/s>]` - Turn in place (positive=right, negative=left)
+- `claudzmo head --angle <degrees>` - Set head angle (-25 to 44 degrees)
+- `claudzmo lift --height <mm>` - Set lift height (0 to 66mm)
+
+### Expression & Speech
+- `claudzmo expression --name <name> [--duration <ms>]` - Display facial expression
+  - Available: neutral, happiness, sadness, anger, surprise, disgust, fear, pleading, vulnerability, despair, guilt, amazement, excitement, confusion, skepticism
+- `claudzmo speak --text "<text>" [--volume <0-65535>]` - Speak text (default volume: 65535)
+
+### Sensors
+- `claudzmo camera [--format jpeg|png]` - Get camera image (returns JSON with base64 image)
+- `claudzmo status` - Get robot status (battery, firmware, etc.)
+
+### Control
+- `claudzmo stop` - Emergency stop all motors
+
+## Examples
+
+```bash
+# Make Cozmo greet someone
+claudzmo speak --text "Hello Matt!"
+claudzmo expression --name happiness --duration 1500
+
+# Move around
+claudzmo move --distance 200 --speed 50
+claudzmo turn --angle 90
+claudzmo head --angle 30
+
+# Take a photo
+claudzmo camera --format jpeg
+
+# Check status
+claudzmo status
+```
+
+## Setup
+
+Requires:
+1. Cozmo robot powered on
+2. Computer connected to Cozmo's WiFi network (Cozmo_XXXXX)
+3. Python environment with pycozmo installed at `/Users/matt/Projects/cozmo-mcp/venv`
+
+## Notes
+
+- Commands connect/disconnect for each operation (ensures reliability)
+- Audio uses macOS `say` command with Samantha voice
+- Expressions animate smoothly at ~30fps
+- Camera returns base64-encoded JPEG or PNG

requirements.txt

@@ -0,0 +1,3 @@
+pycozmo>=0.8.0
+Pillow>=9.0.0
+numpy>=1.20.0