#!/usr/bin/env python3

# Copyright (c) 2016 Anki, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License in the file LICENSE.txt or at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

'''Use custom objects to create a wall in front of Cozmo.

This script is meant to show off custom objects.
It creates a wall in front of cozmo and tells him to drive around it.
He will plan a path to drive 200mm in front of himself after these objects are created.
'''

import cozmo
from cozmo.util import degrees, Pose


def cozmo_program(robot: cozmo.robot.Robot):
    fixed_object = robot.world.create_custom_fixed_object(Pose(100, 0, 0, angle_z=degrees(0)),
                                                        10, 100, 100, relative_to_robot=True)
    if fixed_object:
        print("fixed_object created successfully")

    robot.go_to_pose(Pose(200, 0, 0, angle_z=degrees(0)), relative_to_robot=True).wait_for_completed()


cozmo.run_program(cozmo_program)