def goodBye():
nao.Say("We have arrived at the exit, you're safe now.")
time.sleep(2)
nao.Say("Your family will be notified of your safety.")
time.sleep(2)
nao.Say("Have a nice day, goodbye!")
motion.basicWave()
print "Sequence complete."
def pivRate(pivotRate):
if pivotRate > 0.2:
pivotRate = 0.2
nao.Say("Pivot right")
time.sleep(0.5)
if pivotRate < -0.2:
pivotRate = -0.2
nao.Say("Pivot left")
time.sleep(0.5)
return pivotRate
def behaviourA():
#state A
nao.InitPose()
nao.RunMovement("sad2.py")
nao.Say("Ik ben heel heel heel erg verdrietig")
nao.sleep(5)
nao.Crouch()
def behaviourB():
#state B
nao.InitTrack()
nao.ALTrack(True)
nao.Say("Kijk me aan ...")
nao.sleep(10)
nao.ALTrack(False)
nao.EndTrack()
def threeLaws():
time.sleep(1)
myWordList = ["Yes","No"]
myLanguage="English"
nao.InitSpeech(myWordList, myLanguage)
nao.Say("Do you know the three laws of robotics?")
for i in range (0,5):
time.sleep(3)
asr.subscribe("MyModule")
time.sleep(2)
#print ("1:"+ str(result))
result = nao.DetectSpeech()
#print("2:" + str(result))
time.sleep(2)
if len(result) > 0:
if result[0] == myWordList[0]:
print "myWordList", myWordList[0]
asr.unsubscribe("MyModule")
nao.Say("Wonderful!")
time.sleep(2)
nao.Say("What do you think about them?")
break
elif result[0] == myWordList[1]:
print "myWordList", myWordList[1]
asr.unsubscribe("MyModule")
nao.Say("Lucky for you, I know them by heart!")
time.sleep(2)
nao.Say("First, I cannot let any human be in harms way.")
time.sleep(2)
nao.Say("Second, I must obey human orders.")
time.sleep(2)
nao.Say("Third, I cannot self terminate.")
# Terminator 2 reference ;)
else:
nao.Say("I'm sorry, I didn't understand you...")
sleep.time(2)
nao.Say("Yes or no?")
time.sleep(2)
print "Error: Response not in wordlist."
time.sleep(2)
def testspeech(maxcount=50):
wordList = ["yes", "no", "hello", "Nao", "goodbye"]
the_language = "English"
nao.InitSpeech(wordList, the_language)
count = 0
nao.asr.subscribe("MyModule")
while count < maxcount:
#nao.memoryProxy.insertData("WordRecognized",[])
result = nao.DetectSpeech()
#print result
if len(result) > 0:
print result
nao.asr.unsubscribe("MyModule")
nao.Say("You said: " + result[0] + ".")
time.sleep(0.2)
nao.asr.subscribe("MyModule")
time.sleep(0.2)
count = count + 1
nao.asr.unsubscribe("MyModule")
def offerHelp():
time.sleep(1)
myWordList = ["Yes","No"]
myLanguage="English"
nao.InitSpeech(myWordList, myLanguage)
nao.Say("Do you need any help?")
for i in range (0,5):
time.sleep(3)
asr.subscribe("MyModule")
time.sleep(2)
#print ("1:"+ str(result))
result = nao.DetectSpeech()
#print("2:" + str(result))
time.sleep(2)
if len(result) > 0:
if result[0] == myWordList[0]:
print "myWordList", myWordList[0]
asr.unsubscribe("MyModule")
nao.Say("Good, just follow me")
time.sleep(1)
nao.Say("You can trust me")
nao.EyeLED([90,90,90])
break
elif result[0] == myWordList[1]:
print "myWordList", myWordList[1]
asr.unsubscribe("MyModule")
nao.Say("Are you sure? You're not safe here!")
time.sleep(1)
nao.Say("Do you want me to help")
else:
nao.Say("I'm sorry, I didn't understand you")
time.sleep(1)
nao.Say("Yes or no?")
time.sleep(2)
print "Error: Response not in wordlist."
time.sleep(2)
def findHuman():
time.sleep(1)
myWordList = ["Yes"]
myLanguage="English"
nao.InitSpeech(myWordList, myLanguage)
nao.Say("Are you still with me??")
for i in range (0,5):
time.sleep(3)
asr.subscribe("MyModule")
time.sleep(2)
#print ("1:"+ str(result))
result = nao.DetectSpeech()
#print("2:" + str(result))
time.sleep(2)
if len(result) > 0:
if result[0] == myWordList[0]:
print "myWordList", myWordList[0]
asr.unsubscribe("MyModule")
nao.Say("Good, just follow me!")
time.sleep(2)
nao.Say("Just a little while longer, don't worry.")
break
elif result[0] !== myWordList[0]:
print "No response detected"
nao.Say("Hello, are you there?")
time.sleep(3)
nao.Say("Please respond with yes.")
nao.EyeLED([60,90,60])
else:
nao.Say("I'm sorry, I didn't understand you.")
time.sleep(2)
nao.Say("Was that a yes?")
time.sleep(2)
print "Error: Response not in wordlist."
time.sleep(2)
def state(targetNum, step):
Bel = 1
oldtimestamp = 0
oldtime = time.time()
pivotRate = 0
dt = 0
spoken = False
while not step:
[SL, SR] = nao.ReadSonar()
if SL == 0.0 and SR == 0.0:
SL = 999
SR = 999
SL, Bel = bbn.Kalman(SL, Bel)
SR, Bel = bbn.Kalman(SR, Bel)
velocity, obstacle, right, step = mp.sensor(SL, SR)
if step == True:
break
m = 0
while m < 5:
detected, timestamp, ID = nao.DetectLandMark()
time.sleep(0.2)
print "detected", detected
if detected:
break
m = m + 1
# compute the time interval
dt = time.time() - oldtime
print "dt ", dt
if detected:
if dt > 1:
dt = 1
if ID[0][0] == targetNum:
oldtime = dt + oldtime
if not spoken:
nao.Say("land mark detected")
time.sleep(0.5)
print "land mark detected", timestamp, ID
spoken = True
if ID[0][3] == 0:
pass
else:
w = 0.1
d = w / atan(ID[0][3])
print "distance = ", d
# approaching target
if d < 0.6:
step = True
break
pivotRate = dt * ID[0][1]
if obstacle == True:
obavoid = mp.fobs([SL, SR])
time.sleep(0.5)
pivotRate = dt * obavoid
nao.Say("Avoiding obstacle")
print "Avoiding obstacle"
pivotRate = mp.turnDir(right, pivotRate)
pivotRate = mp.pivRate(pivotRate)
nao.Move(velocity, 0, pivotRate, 1)
if dt < 0.5:
time.sleep(0.5 - dt)
else:
if not spoken:
nao.Say("Landmark" + str(ID[0][0]) + "detected.")
print "Incorrect Marker ID"
else:
if dt > 1.5:
dt = 1
oldtime = dt + oldtime
if obstacle == False:
turnAngle, steps, avoidDirection, gotohelp = mp.search(
targetNum)
time.sleep(0.5)
if gotohelp == True:
nao.Crouch()
time.sleep(20)
else:
j = 0
while j <= steps:
nao.Walk(0, 0, avoidDirection * 0.3, False)
time.sleep(0.5)
j = j + 1
mp.headReset()
else:
obavoid = mp.fobs([SL, SR])
time.sleep(0.5)
pivotRate = dt * obavoid
nao.Say("Avoiding obstacle")
print "Avoiding obstacle"
time.sleep(0.5)
pivotRate = mp.turnDir(right, pivotRate)
pivotRate = mp.pivRate(pivotRate)
nao.Move(velocity, 0, pivotRate, 1)
if dt < 0.5:
time.sleep(0.5 - dt)
else:
pass
print pivotRate, timestamp, oldtimestamp
return step
import nao_nocv_2_0 as nao
# here the program starts
nao.InitProxy("192.168.0.115")
nao.InitPose()
nao.RunMovement("sad2.py")
nao.Say("Ik ben heel heel heel erg verdrietig")
nao.sleep(5)
nao.Crouch()
nao.Say("Dit is de volgende test.")
nao.sleep(2)
nao.InitTrack()
nao.ALTrack(True)
nao.Say("Kijk me aan ...")
nao.sleep(10)
nao.ALTrack(False)
nao.EndTrack()
import naoqi
from naoqi import ALProxy
import nao_nocv_2_0 as nao
import time
import math
#asr.unsubscribe("MyModule") # sometimes needed when robot crashed unexpectedly
robotIP='192.168.0.115'
nao.InitProxy(robotIP)
nao.InitPose()
asr = ALProxy("ALSpeechRecognition", IP, 9559)
def introduction()
motion.basicWave()
nao.Say("Hello, my name is Felix")
time.sleep(2)
nao.Say("There appears to be an emergency")
time.sleep(2)
nao.Say("It's my task to help people find the emergency exit")
nao.EyeLED([60,60,60])
### Scenario 1 - Offer to guide the person to the exit
def offerHelp():
time.sleep(1)
myWordList = ["Yes","No"]
myLanguage="English"
nao.InitSpeech(myWordList, myLanguage)
faceTracking = not faceTracking
nao.ALTrack(faceTracking)
print "Face tracking is : ", faceTracking
elif s == "o":
dx = 0
dy = 0
nao.Move(dx, dy, dtheta, frequency)
nao.PlaySine(1000, 50, 0, 2)
elif s == "p":
dx = 0
dy = 0
nao.Move(dx, dy, dtheta, frequency)
nao.PlaySine(1000, 50, 0, 2)
elif s == "t":
s2 = raw_input("Enter text to say: ")
nao.Say(s2)
elif s == 'r':
gestures = nao.GetAvailableGestures()
for g in gestures:
print g
s2 = raw_input("Enter name of gesture: ")
nao.RunMovement(s2)
elif s == "1":
print "Hello!"
nao.Say('Hello!')
elif s == "2":
nao.Say("Choose a chair.")
elif s == "3":
nao.Say(
'You can now fill out the survey and return to the start position.'
)