def init(qi_url=None):
"Returns a QiApplication object, possibly with interactive input."
if qi_url:
sys.argv.extend(["--qi-url", qi_url])
else:
args = check_commandline_args('Run the app.')
if bool(args.qi_url):
qi_url = args.qi_url
elif not is_on_robot():
print "no --qi-url parameter given; interactively getting debug robot."
debug_robot = get_debug_robot()
if debug_robot:
sys.argv.extend(["--qi-url", debug_robot])
qi_url = debug_robot
else:
raise RuntimeError("No robot, not running.")
qiapp = None
sys.argv[0] = str(sys.argv[0])
# In versions bellow 2.3, look for --qi-url in the arguemnts and call accordingly the Application
if qi_url and hasattr(qi, "__version__") and LooseVersion(qi.__version__) < LooseVersion("2.3"):
qiapp = qi.Application(url="tcp://"+qi_url+":9559")
# In versions greater than 2.3 the ip can simply be passed through argv[0]
else:
# In some environments sys.argv[0] has unicode, which qi rejects
qiapp = qi.Application()
qiapp.start()
return qiapp
def __init__(self,ip,port):
connection_url = "tcp://" + ip + ":" + str(port)
app = qi.Application(["SubscriptionMaster", "--qi-url=" + connection_url])
super(SubscriptionMaster, self).__init__()
app.start()
self.memory = app.session.service("ALMemory")
self.subscriber = {}
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--pip", type=str, default=os.environ['PEPPER_IP'],
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--pport", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
pip = args.pip
pport = args.pport
#Starting application
try:
connection_url = "tcp://" + pip + ":" + str(pport)
app = qi.Application(["TabletModule", "--qi-url=" + connection_url ])
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + pip + "\" on port " + str(pport) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
app.start()
session = app.session
#Starting services
tablet_service = session.service("ALTabletService")
idTTouch = tablet_service.onTouchDown.connect(onTouched)
app.run()
def init():
global app, memory_service
parser = argparse.ArgumentParser()
parser.add_argument(
"--pip",
type=str,
default=os.environ['PEPPER_IP'],
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--pport",
type=int,
default=9559,
help="Naoqi port number")
parser.add_argument("-c", type=str, default="", help="condition")
args = parser.parse_args()
pip = args.pip
pport = args.pport
cond = args.c
#Starting application
try:
connection_url = "tcp://" + pip + ":" + str(pport)
print "Connecting to ", connection_url
app = qi.Application(["Conditions --qi-url=" + connection_url])
except RuntimeError:
print(
"Can't connect to Naoqi at ip \"" + pip + "\" on port " +
str(pport) + ".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
app.start()
return [app, cond]
def main():
app = qi.Application()
app.start()
session = app.session
myLibotDialog = LibotDialog(app)
session.registerService("LibotDialog", myLibotDialog)
app.run()
def __init__(self):
qiApp = qi.Application(sys.argv)
qiApp.start()
self.get_service(qiApp)
# 将展示图片写作类内函数，更方便调用
self.show_image()
qiApp.stop()
def __init__(self):
self.connection_url = "tcp://128.237.226.149:9559"
self.app = qi.Application(
["PredictionDemo", "--qi-url=" + self.connection_url])
self.app.start()
self.session = self.app.session
self.motion = self.session.service("ALMotion")
self.names = [
"HeadYaw", "HeadPitch", "RShoulderPitch", "RShoulderRoll",
"RElbowYaw", "RElbowRoll", "RWristYaw", "LShoulderPitch",
"LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw"
]
self.angles = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.fractionMaxSpeed = 0.1
self.centerPelvisIndex = 0
self.midBodyIndex = 12
self.neckBaseIndex = 13
self.noseIndex = 14
self.headIndex = 15
self.rightShoulderIndex = 17
self.rightElbowIndex = 18
self.rightHandIndex = 19
self.rightWristIndex = 20
self.rightThumbIndex = 21
self.rightFingerTipIndex = 22
self.leftShoulderIndex = 25
self.leftElbowIndex = 26
self.leftHandIndex = 27
self.leftWristIndex = 28
self.leftThumbIndex = 29
self.leftFingerTipIndex = 30
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--pip",
type=str,
default=os.environ['PEPPER_IP'],
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--pport",
type=int,
default=9559,
help="Naoqi port number")
args = parser.parse_args()
pip = args.pip
pport = args.pport
try:
connection_url = "tcp://" + pip + ":" + str(pport)
print "Connecting to ", connection_url
app = qi.Application(["BehaviorInit", "--qi-url=" + connection_url])
except RuntimeError:
print(
"Can't connect to Naoqi at ip \"" + pip + "\" on port " +
str(pport) + ".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
app.start()
do_init(app.session)
def main():
app = qi.Application(url='tcp://169.254.254.250:9559')
app.start()
session = app.session
myAnimation = MyAnimation()
session.registerService("MyAnimation", myAnimation)
app.run()
def run():
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument(
"--ip",
type=str,
default="127.0.0.1",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port",
type=int,
default=9559,
help="Naoqi port number")
args = parser.parse_args()
try:
# Initialize qi framework.
connection_url = "tcp://" + args.ip + ":" + str(args.port)
app = qi.Application(["Hangman", "--qi-url=" + connection_url])
except RuntimeError:
print(
"Can't connect to Naoqi at ip \"" + args.ip + "\" on port " +
str(args.port) + ".\n"
"Please check your script arguments. Run with -h option for help."
)
sys.exit(1)
hangman = game.Hangman(app)
hangman.play()
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--pip",
type=str,
default=os.environ['PEPPER_IP'],
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--pport",
type=int,
default=9559,
help="Naoqi port number")
args = parser.parse_args()
pip = args.pip
pport = args.pport
#Starting application
try:
connection_url = "tcp://" + pip + ":" + str(pport)
app = qi.Application(["google_client", "--qi-url=" + connection_url])
except RuntimeError:
print(
"Can't connect to Naoqi at ip \"" + pip + "\" on port " +
str(pport) + ".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
gc = GoogleClient("en-US", "resources/cloud_google_keys.txt", app)
app.run()
gc.quit()
def main():
"""
Registers ALTactileGesture as a naoqi service.
"""
register_as_service(ALTactileGesture)
app = qi.Application()
app.run()
def main():
app = qi.Application()
app.start()
session = app.session
myService = ALTabletServiceModule()
session.registerService("ALTabletService", myService)
app.run()
def __init__(self):
app = qi.Application(
["simplescript", "--qi-url=tcp://10.0.137.152:9559"])
app.start()
self.videoCapture = app.session.service("ALVideoDevice")
self.animatedSpeech = app.session.service("ALAnimatedSpeech")
def __init__(self):
"""
Initialisation of qi framework and event detection.
"""
super(HumanGreeter, self).__init__()
try:
# Initialize qi framework.
connection_url = "tcp://" + environ["robot_ip"] + ":" + environ[
"robot_port"]
app = qi.Application(
["HumanGreeter", "--qi-url=" + connection_url])
except RuntimeError:
print(
"Can't connect to Naoqi at ip \"" + environ["robot_ip"] +
"\" on port " + environ["robot_port"] + ".\n"
"Please check your script arguments. Run with -h option for help."
)
sys.exit(1)
app.start()
session = app.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
self.subscriber = self.memory.subscriber("PeoplePerception/PeopleList")
print str(self.subscriber)
#self.subscriber.signal.connect(self.on_human_tracked)
# Get the services ALTextToSpeech and ALFaceDetection.
self.tts = session.service("ALTextToSpeech")
self.face_detection = session.service("ALPeoplePerception")
self.face_detection.subscribe("HumanGreeter")
self.got_face = False
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--ip",
type=str,
default="192.168.0.100",
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--port",
type=int,
default=9559,
help="Naoqi port number")
parser.add_argument("--state",
type=str,
default="robot",
help="Insert robot or human")
args = parser.parse_args()
state = args.state
try:
# Initialize qi framework.
connection_url = "tcp://" + args.ip + ":" + str(args.port)
app = qi.Application(
["SoundProcessingModule", "--qi-url=" + connection_url])
except RuntimeError:
print(
"Can't connect to Naoqi at ip \"" + args.ip + "\" on port " +
str(args.port) + ".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
MySoundProcessingModule = ad.SoundProcessingModule(app)
app.session.registerService("SoundProcessingModule",
MySoundProcessingModule)
doJoke(MySoundProcessingModule, state)
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--pip", type=str, default=os.environ['PEPPER_IP'],
help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
parser.add_argument("--pport", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
pip = args.pip
pport = args.pport
#Starting application
try:
connection_url = "tcp://" + pip + ":" + str(pport)
app = qi.Application(["alltasksconfirmed", "--qi-url=" + connection_url ])
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + pip + "\" on port " + str(pport) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
app.start()
session = app.session
init(session)
#Program stays at this point until we stop it
app.run()
quit()
def main():
# qi App Session
qiApp = qi.Application(sys.argv)
# Bullet Simulator
simulation_manager = SimulationManager()
client_id = simulation_manager.launchSimulation(gui=True)
pepperSim = simulation_manager.spawnPepper(client_id,
translation=[0, 0, 0],
quaternion=[0, 0, 0, 1],
spawn_ground_plane=True)
# wrap qi App Session with Simulated Pepper
wrap = NaoqibulletWrapper.NaoqibulletWrapper(
qiApp, pepperSim) # /!\ keep wrap instance to keep thread
pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
pybullet.loadURDF("table.urdf",
basePosition=[-2, 0, 0],
globalScaling=1,
physicsClientId=client_id)
pybullet.loadURDF("totem.urdf",
basePosition=[-1.5, 0, 1],
globalScaling=0.7,
physicsClientId=client_id)
pybullet.loadURDF("totempomme.urdf",
basePosition=[-1.5, -0.25, 1],
globalScaling=0.7,
physicsClientId=client_id)
pybullet.loadURDF("totemwine.urdf",
basePosition=[-1.5, 0.25, 1],
globalScaling=0.7,
physicsClientId=client_id)
qiSession = qiApp.session
motionService = qiSession.service("ALMotion")
#add function here
init_cam(pepperSim)
motionService.setAngles(["LShoulderPitch", "RShoulderPitch"], [1, 1],
[1, 1])
#take photo
turn(motionService, pi)
take_picture(pepperSim)
#go to the object
move_right_obj(motionService)
#go to the box
move_to_Blue(motionService)
# block until stop is called.
qiApp.run()
# close nicely
wrap.close()
def _setup(self):
self._running = True
self._app = qi.Application(url=self._ipaddress)
self._app.start()
self._appthread = threading.Thread(target=self._appspin).start()
self._mem = self._app.session.service("ALMemory")
self._tts = self._app.session.service("ALAnimatedSpeech")
self._behav = self._app.session.service("ALBehaviorManager")
def main():
"""Register and start ALRALManagerModule service."""
app = qi.Application()
app.start()
session = qi.Session()
session.connect('tcp://127.0.0.1:9559')
startService(session)
app.run()
def main():
app = qi.Application()
app.start()
session = app.session
service = SurveyService()
session.registerService('SurveyService', service)
app.run()
def __init__(self, ip, port):
self.qiapp = qi.Application(url="tcp://" + ip + ":" + port)
self.qiapp.start()
self.s = stk.services.ServiceCache(self.qiapp.session)
# Prepare the robot
self.s.ALRobotPosture.goToPosture("Stand", 0.5)
self.s.ALMotion.setBreathEnabled("Body", True)
self.s.ALAnimatedSpeech.setBodyLanguageMode(0)
def __init__(self):
qiApp = qi.Application()
qiApp.start()
self.get_service(qiApp)
self.set_parameter()
self.disable_auto_mode()
self.move()
qiApp.stop()
def __init__(self):
qiApp = qi.Application()
qiApp.start()
self.count = 0
self.get_service(qiApp)
self.disable_auto_mode()
self.data_process()
self.__del__()
qiApp.stop()
def __init__(self, outputmanager, qiapp=None, nao_ip=None):
self.output = None
self.is_interrupted = False
self.last_known_child_location = None
self.outputmanager = outputmanager
self.is_face_tracking = False
self.robot_volume_enabled = False
self.variables = {}
if qiapp != None:
self.qiapp = qiapp
else:
qi_url = "192.168.100.110"
if nao_ip != None:
qi_url = nao_ip
if qi_url.find(':') == -1:
qi_url += ':9559' # Default port
self.qiapp = qi.Application(url="tcp://" + qi_url)
self.qiapp.start()
self.s = stk.services.ServiceCache(self.qiapp.session)
self.events = stk.events.EventHelper(self.qiapp.session)
self.s.ALAnimatedSpeech.setBodyLanguageMode(0)
# Turn off the volume for the tablet condition, just in case something goes wrong with rerouting.
self.toggle_robot_volume(False)
# Disable some basic awareness
try:
self.s.ALBasicAwareness.setStimulusDetectionEnabled("Sound", False)
self.s.ALBasicAwareness.setStimulusDetectionEnabled(
"Movement", False)
self.s.ALBasicAwareness.setStimulusDetectionEnabled("Touch", False)
self.s.ALBasicAwareness.setStimulusDetectionEnabled(
"People", False)
except:
pass
self._toggle_facetracking_callback(False)
self.s.ALRobotPosture.goToPosture("Crouch", 0.5)
self.s.ALLeds.on('AllLeds')
# Go to crouching position and disable stiffness in legs
names = [
'RKneePitch', 'LKneePitch', 'RAnklePitch', 'LAnklePitch',
'RAnkleRoll', 'LAnkleRoll'
]
stiffnesses = 0.0
self.s.ALMotion.setStiffnesses(names, stiffnesses)
self.lock = threading.Lock()
self.events.subscribe("toggle_tablet", "OutputRealizer",
self.outputmanager.tablet_screen_callback)
self.events.subscribe("toggle_facetracking", "OutputRealizer",
self._toggle_facetracking_callback)
self.events.subscribe("trigger_facial_expression", "OutputRealizer",
self._trigger_facial_expression)
self.events.subscribe("accept_answer", "OutputRealizer",
self.outputmanager.accept_answer_callback)
self.events.subscribe("move", "OutputRealizer",
self.outputmanager.move_object_callback)
self.s.ALBehaviorManager.behaviorStopped.connect(
self._behavior_stopped)
self.om_sensor_touch_callback = self.outputmanager.sensor_touched_callback
def __init__(self):
qiApp = qi.Application()
qiApp.start()
self.init_ros()
self.get_service(qiApp)
self.set_parameter()
self.disable_auto_mode()
dest_point = self.get_destination()
self.go_to_waypoint(dest_point)
qiApp.stop()
def main():
import sys
app = qi.Application(sys.argv)
app.start()
gfService = GFService(app.session)
id = app.session.registerService("GoogleForm", gfService)
app.run()
sys.exit()
def main():
# Create and Start the Application
app = qi.Application()
app.start()
# Create the ALGenerateKnowledge Service
ps = ALSetDateTime(app)
# Register It
app.session.registerService("ALSetDateTime", ps)
# Run the Application
app.run()
def __init__(self, ip_address, port=9559):
self.session = qi.Session()
self.session.connect("tcp://{0}:{1}".format(ip_address, port))
self.ip_address = ip_address
self.port = port
connection_url = "tcp://" + ip_address + ":" + str(port)
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.load_system_host_keys()
ssh.connect(hostname=self.ip_address, username="******", password="******")
self.scp = SCPClient(ssh.get_transport())
self.app = qi.Application(
["ReactToTouch", "HumanGreeter", "--qi-url=" + connection_url])
self.human_reco = HumanGreeter(self.app)
self.posture_service = self.session.service("ALRobotPosture")
self.motion_service = self.session.service("ALMotion")
self.tracker_service = self.session.service("ALTracker")
self.tts_service = self.session.service("ALAnimatedSpeech")
self.tablet_service = self.session.service("ALTabletService")
self.autonomous_life_service = self.session.service("ALAutonomousLife")
self.system_service = self.session.service("ALSystem")
self.navigation_service = self.session.service("ALNavigation")
self.battery_service = self.session.service("ALBattery")
self.awareness_service = self.session.service("ALBasicAwareness")
self.led_service = self.session.service("ALLeds")
self.audio_device = self.session.service("ALAudioDevice")
self.camera_device = self.session.service("ALVideoDevice")
self.face_detection_service = self.session.service("ALFaceDetection")
self.memory_service = self.session.service("ALMemory")
self.audio_service = self.session.service("ALAudioPlayer")
self.animation_service = self.session.service("ALAnimationPlayer")
self.behavior_service = self.session.service("ALBehaviorManager")
self.face_characteristic = self.session.service(
"ALFaceCharacteristics")
self.people_perception = self.session.service("ALPeoplePerception")
self.speech_service = self.session.service("ALSpeechRecognition")
self.dialog_service = self.session.service("ALDialog")
self.audio_recorder = self.session.service("ALAudioRecorder")
self.slam_map = None
self.localization = None
self.camera_link = None
self.recognizer = speech_recognition.Recognizer()
self.autonomous_blinking_service = self.session.service(
"ALAutonomousBlinking")
self.eye_blinking_enabled = True
self.voice_speed = 100
self.voice_shape = 100
print("[INFO]: Robot is initialized at " + ip_address + ":" +
str(port))
def readBodyID():
try:
app = qi.Application(sys.argv)
app.start()
almemory = app.session.service("ALMemory")
id = almemory.getData("Device/DeviceList/ChestBoard/BodyId")
print(id)
exit(0)
except RuntimeError, e:
print("Fail")
exit(1)