ロボット操作のスクリプト

実行例

% ./seat http://openrtp.jp/seatsat/wiki:robotcontrol?do=export_seatml

使用する辞書:robotcontroldict

<?xml version="1.0" encoding="UTF-8" ?>
<seatml>
<!--
    Speech Event - Action Translator ver. 1.0
    Copyright(C)  2005, Isao Hara
    Copyright(C)  2008, Yosuke Matsusaka
-->
<state name="robotcontrol" dict="http://openrtp.jp/seatsat/wiki:robotcontroldict?do=export_julius">
  <rule>
    <key>１歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "1歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 0.2 0 0)</command>
  </rule>
  <rule>
    <key>２歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "2歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 0.4 0 0)</command>
  </rule>
  <rule>
    <key>３歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "3歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 0.6 0 0)</command>
  </rule>
  <rule>
    <key>４歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "4歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 0.8 0 0)</command>
  </rule>
  <rule>
    <key>５歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "5歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 1.0 0 0)</command>
  </rule>
  <rule>
    <key>６歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "6歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 1.2 0 0)</command>
  </rule>
  <rule>
    <key>７歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "7歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 1.4 0 0)</command>
  </rule>
  <rule>
    <key>８歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "8歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 1.6 0 0)</command>
  </rule>
  <rule>
    <key>９歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "9歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 1.8 0 0)</command>
  </rule>
  <rule>
    <key>１０歩(前進|前に進んで|前へ)</key>
    <command host="talk">(talk "10歩前に行きます")</command>
    <command host="control">(robot hwalk :set-target-pos 2.0 0 0)</command>
  </rule>
  <rule>
    <key>右手[を]上げて</key>
    <command host="talk">(talk "右手を挙げます")</command>
    <command host="control">(robot doAction a 1 RightArmUp)</command>
 
  </rule>
  <rule>
    <key>左手[を]上げて</key>
    <command host="talk">(talk "左手を挙げます")</command>
    <command host="control">(robot doAction a 1 LeftArmUp)</command>
  </rule>
  <rule>
    <key>止まって</key>
    <key>ストップ</key>
    <command host="talk">(talk "止まります")</command>
    <command host="control">(robot hwalk :stop-walking)</command>
  </rule>
  <rule>
    <key>挨拶をして</key>
    <key>挨拶して</key>
    <command host="talk">(talk "こんにちは、ご機嫌いかがですか？")</command>
    <command host="control"> (robot doAction a 1 Nod) </command>
  </rule>
  <rule>
    <key>こんにちは</key>
    <command  host="talk">(talk "こんにちは")</command>
    <command  host="control"> (robot doAction a 1 Nod) </command>
  </rule>
  <rule>
    <key>さようなら</key>
    <command  host="talk">(talk "さようなら")</command>
    <command  host="control">(robot doAction a 1 ByeBye)</command>
  </rule>
</state>
</seatml>