def main():
#a= "Uh, summa-lumma, dooma-lumma"+"You assumin' I'm a human"+"What I gotta do to get it through to you? I'm superhuman"+"Innovative and I'm made of rubber"+"So that anything you say is ricocheting off of me"+"And it'll glue to you and"+"I'm devastating, more than ever demonstrating"+"How to give a mothafuckin' audience a feelin' like it's levitating"+"Never fading, and I know the haters are forever waiting"+"For the day that they can say I fell off, they'll be celebrating"+"‘Cause I know the way to get 'em motivated"+"I make elevating music, you make elevator music"+"Oh, he's too mainstream."+"Well, that's what they do when they get jealous"+"They confuse it; It's not hip-hop, it's pop."+"‘Cause I found a hella way to fuse it"+"With rock, shock rap with Doc"+"Throw on Lose Yourself and make 'em lose it"+"I don't know how to make songs like that"+"I don't know what words to use."+"Let me know when it occurs to you"+"While I'm rippin' any one of these verses that versus you"+"It's curtains, I'm inadvertently hurtin' you"+"How many verses I gotta murder to"+"Prove that if you were half as nice"+"Your songs you could sacrifice virgins to?"+"Ungh, school flunky, pill junkie"+"But look at the accolades these skills brung me"+"Full of myself, but still hungry"+"I bully myself, ‘cause I make me do what I put my mind to"+"And I'm a million leagues above you"+"Ill when I speak in tongues, but it's still tongue-in-cheek, f**k you!"
# build the robot
a = "Hello, I am Maqui, I am a Pepper Robot from D I E Robotics Lab"
rospy.init_node("test")
maqui = robot_factory.build(["facial_features", "people_perception"],
core=True)
maqui.check()
print("Testing Maqui Robot Skills")
maqui.tts.set_language("English")
maqui.tts.set_speed(90)
maqui.tts.set_volume(0.5)
maqui.basic_motion.wake_up()
maqui.neck.look_front()
maqui.tts.say("Starting a facial features Test!, i'm looking for lukitas ")
maqui.tts.wait_until_done()
print("lol ")
maqui.people_perception.reset_population()
r = rospy.Rate(2.0)
a = False
try:
while not a:
a = maqui.people_perception.is_people_detected()
ids = maqui.people_perception.get_crowd()
id = ids[0]
position = maqui.people_perception.get_position(id)
x = position[0] - 0.2
y = position[1]
print(x, y)
maqui.base.move(x, y)
maqui.base.wait_until_done()
maqui.neck.look_at(x=1.0, z=position[2])
maqui.tts.say("Hi Lukitas, How are you?")
maqui.tts.wait_until_done()
maqui.tts.set_speed(50)
maqui.tts.say("f**k you meen")
maqui.base.rotate(180)
except KeyboardInterrupt:
maqui.base.stop()
print("Finished by user")
def main():
# build the robot
a = "Hello, I am Maqui, I am a Pepper Robot from D I E Robotics Lab"
rospy.init_node("test")
maqui = robot_factory.build(
["facial_features", "people_perception", 'track_person'], core=True)
maqui.check()
print("Testing Maqui Robot Skills")
maqui.tts.set_language("English")
maqui.tts.set_speed(90)
maqui.tts.set_volume(0.5)
maqui.basic_motion.wake_up()
maqui.neck.look_front()
maqui.tts.say("Starting a track test, trackig lukitas ")
maqui.tts.wait_until_done()
print("lol ")
maqui.people_perception.reset_population()
r = rospy.Rate(2.0)
a = False
try:
while not a:
a = maqui.people_perception.is_people_detected()
if a:
print('Person detected!')
ids = maqui.people_perception.get_crowd()
id = ids[0]
maqui.track_person.track_person(id)
print("Starting Tracks")
try:
while True:
rospy.sleep(1)
except KeyboardInterrupt:
print
print "Interrupted by user"
print "Stopping..."
maqui.tts.say("Hi Lukitas, How are you?")
maqui.base.rotate(180)
except KeyboardInterrupt:
maqui.base.stop()
print("Finished by user")
maqui.track_person.unregister_targets()
maqui.track_person.stop_track()
def main():
rospy.init_node("test")
maqui = robot_factory.build(["facial_features"], core=True)
maqui.check()
try:
FaceDetector(maqui)
rospy.spin()
except KeyboardInterrupt:
maqui.base.stop()
print("Finished by user")
def main():
a = "Uh, summa-lumma, dooma-lumma" + "You assumin' I'm a human" + "What I gotta do to get it through to you? I'm superhuman" + "Innovative and I'm made of rubber" + "So that anything you say is ricocheting off of me" + "And it'll glue to you and" + "I'm devastating, more than ever demonstrating" + "How to give a mothafuckin' audience a feelin' like it's levitating" + "Never fading, and I know the haters are forever waiting" + "For the day that they can say I fell off, they'll be celebrating" + "‘Cause I know the way to get 'em motivated" + "I make elevating music, you make elevator music" + "Oh, he's too mainstream." + "Well, that's what they do when they get jealous" + "They confuse it; It's not hip-hop, it's pop." + "‘Cause I found a hella way to fuse it" + "With rock, shock rap with Doc" + "Throw on Lose Yourself and make 'em lose it" + "I don't know how to make songs like that" + "I don't know what words to use." + "Let me know when it occurs to you" + "While I'm rippin' any one of these verses that versus you" + "It's curtains, I'm inadvertently hurtin' you" + "How many verses I gotta murder to" + "Prove that if you were half as nice" + "Your songs you could sacrifice virgins to?" + "Ungh, school flunky, pill junkie" + "But look at the accolades these skills brung me" + "Full of myself, but still hungry" + "I bully myself, ‘cause I make me do what I put my mind to" + "And I'm a million leagues above you" + "Ill when I speak in tongues, but it's still tongue-in-cheek, f**k you!"
# build the robot
rospy.init_node("test")
maqui = robot_factory.build([], core=True)
maqui.check()
print("Testing Maqui Robot Skills")
maqui.tts.set_language("English")
maqui.tts.set_speed(200)
rospy.sleep(1.0)
maqui.tts.set_gestures_mode(1)
maqui.tts.say_with_gestures(a)
},
)
smach.StateMachine.add('SAY_ANSWER',SaySelection(robot),
transitions={
'succeeded':'FINISH'
},
)
smach.StateMachine.add('FINISH',Speak(robot,"Muchas Gracias"),
transitions={
'succeeded':'succeeded'
}
)
return sm
if __name__ == '__main__':
rospy.init_node('rt_detection_state')
robot= robot_factory.build([
"audition",
"tts"],core=True)
sm = getInstance(robot)
sis = IntrospectionServer('example_state', sm, '/EA_INIT_STATE') #Smach Viewer
sis.start()
outcome = sm.execute()
sis.stop()
'succeeded': 'HEAR_INFO',
'map_game': 'MAP_GAME',
'cover_detector': 'COVER_DETECTOR'
})
smach.StateMachine.add('MAP_GAME',
MapGame.getInstance(robot),
transitions={'succeeded': 'ITERATORMANAGER'})
smach.StateMachine.add('HEAR_INFO',
HearInfo.getInstance(robot),
transitions={
'succeeded': 'ITERATORMANAGER',
'aborted': 'ITERATORMANAGER'
})
smach.StateMachine.add('COVER_DETECTOR',
CoverDetector.getInstance(robot),
transitions={'succeeded': 'ITERATORMANAGER'})
return sm
if __name__ == '__main__':
rospy.init_node('ENDAGEREDANIMALS')
robot = robot_factory.build(["audition", "tts", "tablet"], core=False)
sm = getInstance(robot)
sis = IntrospectionServer('example_state', sm,
'/EA_INIT_STATE') #Smach Viewer
sis.start()
outcome = sm.execute()
sis.stop()
#!/usr/bin/env python
#Basic ROS
import rospy
#Robot building
from maqui_skills import robot_factory
if __name__ == '__main__':
rospy.init_node("test_audition")
maqui = robot_factory.build(
["audition", 'tts', 'sound_localization', 'base'], core=False)
while not rospy.is_shutdown():
word = maqui.audition.recognize_with_grammar('/Stage1/GPSR/gpsr')
print word
maqui.tts.say(word)
robot,
"Felicitaciones a su equipo, ahora deben esperar que todos los equipos terminen para poder saber al ganador"
),
transitions={'succeeded': 'PRE_WAIT'})
smach.StateMachine.add('SPEAK_RETURN',
Speak(robot, "Suerte con la pregunta"),
transitions={'succeeded': 'PRE_WAIT'})
return sm
if __name__ == '__main__':
rospy.init_node('TREASURE')
base_skills = [
"audition", "marker", "tablet", "tabletapp", 'knowledge', "navigation",
"person_detector", "facial_features", "l_arm", "r_arm"
] #,
#"sitting_person_detector"] not sure if we need this
extra_skills = []
robot = robot_factory.build(base_skills + extra_skills, core=True)
sm = getInstance(robot)
sis = IntrospectionServer('treasure', sm, '/TREASURE_SM') #Smach Viewer
sis.start()
outcome = sm.execute() # here is where the test begin
sis.stop()
def main():
#a= "Uh, summa-lumma, dooma-lumma"+"You assumin' I'm a human"+"What I gotta do to get it through to you? I'm superhuman"+"Innovative and I'm made of rubber"+"So that anything you say is ricocheting off of me"+"And it'll glue to you and"+"I'm devastating, more than ever demonstrating"+"How to give a mothafuckin' audience a feelin' like it's levitating"+"Never fading, and I know the haters are forever waiting"+"For the day that they can say I fell off, they'll be celebrating"+"‘Cause I know the way to get 'em motivated"+"I make elevating music, you make elevator music"+"Oh, he's too mainstream."+"Well, that's what they do when they get jealous"+"They confuse it; It's not hip-hop, it's pop."+"‘Cause I found a hella way to fuse it"+"With rock, shock rap with Doc"+"Throw on Lose Yourself and make 'em lose it"+"I don't know how to make songs like that"+"I don't know what words to use."+"Let me know when it occurs to you"+"While I'm rippin' any one of these verses that versus you"+"It's curtains, I'm inadvertently hurtin' you"+"How many verses I gotta murder to"+"Prove that if you were half as nice"+"Your songs you could sacrifice virgins to?"+"Ungh, school flunky, pill junkie"+"But look at the accolades these skills brung me"+"Full of myself, but still hungry"+"I bully myself, ‘cause I make me do what I put my mind to"+"And I'm a million leagues above you"+"Ill when I speak in tongues, but it's still tongue-in-cheek, f**k you!"
# build the robot
#a= "Hello, I am Maqui, I am a Pepper Robot from D I E Robotics Lab"
rospy.init_node("test")
maqui = robot_factory.build(["facial_features","tts","basic_motion","neck"],core=False)
maqui.check()
maqui.basic_motion.wake_up()
print("Testing Maqui Robot Skills")
maqui.tts.set_language("English")
maqui.tts.set_speed(90)
maqui.tts.set_volume(0.1)
maqui.neck.look_front()
dontseeyou = True
seeyou = True
maqui.tts.say("Facial Features Test")
maqui.tts.wait_until_done()
r =rospy.Rate(3.0)
try:
while not rospy.is_shutdown():
if maqui.facial_features.is_face_detected:
if seeyou:
#maqui.tts.say("I see your face")
face_id = maqui.facial_features._get_face_id()
print(str(face_id))
name_info = maqui.facial_features.recognize_face()
name = name_info[0][2]
maqui.tts.wait_until_done()
if name != "":
maqui.tts.say("Hello " + name)
maqui.tts.wait_until_done()
seeyou = False
else:
seeyou = True
facial_features = maqui.facial_features.get_facial_features()
if facial_features == []:
pass
else:
ages =facial_features[0][0]
age = ages[0]
age_confidence = ages[1]
genders=facial_features[0][1]
gender = genders[0]
gender_confidence = genders[1]
print("AGE : " + str(age) +' , ' + str(age_confidence))
print("GENDER : " + str(gender) +' , ' + str(gender_confidence))
gender = {1:"male",0:"female",-1:"lol"}
g = gender[1]
maqui.tts.say("You are "+ g + ", and you are " + str(age) + " years old")
maqui.tts.wait_until_done()
r.sleep()
except KeyboardInterrupt:
print("Finished by user")
