{"id":1517,"date":"2022-01-19T10:36:04","date_gmt":"2022-01-19T01:36:04","guid":{"rendered":"http:\/\/www.sophia-i.co.jp\/?page_id=1517"},"modified":"2022-01-19T10:36:05","modified_gmt":"2022-01-19T01:36:05","slug":"%e3%83%81%e3%83%a5%e3%83%bc%e3%83%88%e3%83%aa%e3%82%a2%e3%83%ab","status":"publish","type":"page","link":"http:\/\/www.sophia-i.co.jp\/?page_id=1517","title":{"rendered":"\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb"},"content":{"rendered":"\n

\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb<\/p>\n\n\n\n

\uff11\u3001PaPeRo i \u53ca\u3073PaPeRo i \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306b\u3064\u3044\u3066<\/h4>\n\n\n\n

PaPeRo(Partner-Type Personal Robot)\u3068\u306f\u3001NEC\u306b\u3088\u308a\u958b\u767a\u3055\u308c\u305f\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u30ed\u30dc\u30c3\u30c8\u3067\u3059\u3002
2005\u5e74\u306ePaPeRo 2005\u306f\u3001\u30c1\u30e3\u30a4\u30eb\u30c9\u30b1\u30a2\u30ed\u30dc\u30c3\u30c8\u3068\u3057\u3066\u611b\u77e5\u4e07\u535a\u306b\u51fa\u5c55\u3055\u308c\u3001\u5b50\u4f9b\u305f\u3061\u306e\u4eba\u6c17\u3092\u96c6\u3081\u307e\u3057\u305f\u3002
\u307e\u305f\u30012009\u5e74\u306b\u306fPaPeRo R500\u304c\u4e16\u754c\u521d\u306e\u30d9\u30d3\u30fc\u30b7\u30c3\u30bf\u30fc\u30ed\u30dc\u30c3\u30c8\u30fb\u30bd\u30e0\u30ea\u30a8\u30ed\u30dc\u30c3\u30c8\u3068\u3044\u3046\uff12\u3064\u306e\u30ae\u30cd\u30b9\u8a8d\u5b9a\u3092\u53d7\u3051\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

\u30b7\u30ea\u30fc\u30ba\u6700\u65b0\u6a5f\u7a2e\u3068\u306a\u308bPaPeRo i \u306f\u30012016\u5e747\u6708\u3088\u308a\u30ec\u30f3\u30bf\u30eb\u304c\u958b\u59cb\u3055\u308c\u308b\u4e88\u5b9a\u3067\u3059\u3002
PaPeRo i \u306f\u3001NEC\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u30ba\u306e\u88fd\u54c1\u3067\u3059\u3002
PaPeRo i \u306f\u3001\u30e6\u30fc\u30b6\u306e\u958b\u767a\u3059\u308bPython\u30b9\u30af\u30ea\u30d7\u30c8\u306b\u5f93\u3063\u3066\u52d5\u4f5c\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002
PaPeRo i \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306f\u3001PaPeRo i \u3092\u5236\u5fa1\u3059\u308b\u70ba\u306ePython\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u958b\u767a\u3092\u652f\u63f4\u3059\u308b\u70ba\u306e\u30c4\u30fc\u30eb\u3067\u3059\u3002<\/p>\n\n\n\n

\uff12\u3001Python\u306b\u3064\u3044\u3066<\/h4>\n\n\n\n

Python\u306f\u3001\u30aa\u30e9\u30f3\u30c0\u4eba\u306e\u30b0\u30a4\u30c9\u30fb\u30f4\u30a1\u30f3\u30ed\u30c3\u30b5\u30e0\u6c0f\u306b\u3088\u3063\u3066\u958b\u767a\u3055\u308c\u305f\u6c4e\u7528\u30b9\u30af\u30ea\u30d7\u30c8\u8a00\u8a9e\u3067\u3059\u3002
\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u3001\u30de\u30eb\u30c1\u30d7\u30e9\u30c3\u30c8\u30db\u30fc\u30e0\u3001\u8c4a\u5bcc\u306a\u7d44\u307f\u8fbc\u307f\u30c7\u30fc\u30bf\u578b\u3001\u8c4a\u5bcc\u306a\u62e1\u5f35\u30e9\u30a4\u30d6\u30e9\u30ea\u7b49\u306e\u7279\u9577\u3092\u6301\u3063\u3066\u304a\u308a\u307e\u3059\u3002
\u307e\u305f\u300c\u30b7\u30f3\u30d7\u30eb\u300d\u3067\u300c\u7fd2\u5f97\u304c\u5bb9\u6613\u300d\u3068\u3044\u3046\u76ee\u6a19\u306b\u91cd\u70b9\u3092\u7f6e\u3044\u3066\u8a2d\u8a08\u3055\u308c\u305f\u8a00\u8a9e\u3067\u3082\u3042\u308a\u307e\u3059\u3002
\u30ed\u30dc\u30c3\u30c8\u306e\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u306b\u306fC\u8a00\u8a9e\u3092\u7528\u3044\u308b\u306e\u304c\u4e00\u822c\u7684\u3067\u3059\u304c\u3001\u305d\u3053\u306bPython\u3092\u7528\u3044\u308b\u4e8b\u306b\u3088\u308a\u3001\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u306e\u96e3\u6613\u5ea6\u4f4e\u6e1b\u3001\u751f\u7523\u6027\u5411\u4e0a\u3001\u53c2\u5165\u969c\u58c1\u4f4e\u6e1b\u7b49\u306e\u30e1\u30ea\u30c3\u30c8\u304c\u671f\u5f85\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

\uff13\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u753b\u9762\u3092\u7406\u89e3\u3059\u308b<\/h4>\n\n\n\n

PaPeRo i \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306f\u3001PaPeRo i \u306e\u52d5\u304d\u3092\u518d\u73fe\u3059\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u4ed6\u306b\u3001\u30e2\u30fc\u30b7\u30e7\u30f3\u3092\u4f5c\u6210\u3059\u308b\u305f\u3081\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u30a8\u30c7\u30a3\u30bf\u306e\u6a5f\u80fd\u3082\u5099\u3048\u3066\u304a\u308a\u307e\u3059\u3002
\u753b\u9762\u5de6\u5074\u306e3D\u30a8\u30ea\u30a2\u306bPaPeRo i \u304c\u8868\u793a\u3055\u308c\u3066\u304a\u308a\u307e\u3059\u30023D\u30a8\u30ea\u30a2\u306e\u4e0a\u3067\u30de\u30a6\u30b9\u306e\u5de6\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u306a\u304c\u3089\u52d5\u304b\u3059\u3068\u3001\u7a7a\u9593\u4e0a\u306e1\u70b9\u3092\u6ce8\u8996\u70b9\u3068\u3057\u3066\u8996\u70b9\u304c\u56de\u8ee2\u3057\u307e\u3059\u3002
\u30b7\u30d5\u30c8\u30ad\u30fc\u3092\u62bc\u3057\u306a\u304c\u3089\u540c\u69d8\u306e\u64cd\u4f5c\u3092\u3059\u308b\u3068\u3001\u8996\u70b9\u3068\u6ce8\u8996\u70b9\u304c\u5e73\u884c\u79fb\u52d5\u3057\u307e\u3059\u3002
3D\u30a8\u30ea\u30a2\u306e\u4e0b\u306b\u3042\u308b\u30dc\u30bf\u30f3\u3067\u80cc\u666f\u3092\u5909\u66f4\u3067\u304d\u307e\u3059\u3002
\u753b\u9762\u53f3\u5074\u306e\u4e0a\u306e\u65b9\u306b\u3042\u308b\u300c\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u300d\u3068\u66f8\u304b\u308c\u305f\u30dc\u30bf\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3092\u5909\u66f4\u3057\u305f\u308a\u3001\u30c6\u30ad\u30b9\u30c8\u5165\u529b\u306b\u3088\u308a\u8a71\u3057\u304b\u3051\u305f\u308a\u3001\u30bb\u30f3\u30b5\u30fc\u3078\u306e\u5165\u529b\u3092\u4e0e\u3048\u308b\u70ba\u306eUI\u304c\u51fa\u73fe\u3057\u307e\u3059\u3002
\u753b\u9762\u53f3\u5074\u4e2d\u592e\u4ed8\u8fd1\u306b\u898b\u3048\u308b\u30bf\u30a4\u30e0\u30c1\u30e3\u30fc\u30c8(\u9ed2\u3044\u80cc\u666f\u306b\u767d\u3044\u7dda\u306e\u5165\u3063\u305f\u90e8\u5206)\u306f\u30e2\u30fc\u30b7\u30e7\u30f3\u30a8\u30c7\u30a3\u30bf\u3067\u7de8\u96c6\u4e2d\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u4f5c\u3092\u6642\u7cfb\u5217\u3067\u8868\u793a\u3057\u3066\u3044\u307e\u3059\u3002
\u305d\u306e\u4e0b\u306b\u3042\u308b\u5404\u7a2eUI\u306b\u3088\u308a\u3001PaPeRo i \u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u3092\u7de8\u96c6\u3057\u305f\u308a\u3001\u305d\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u3092\u518d\u73fe\u3059\u308b\u70ba\u306ePython\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u751f\u6210\u3057\u305f\u308a\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002
\u751f\u6210\u3055\u308c\u305f\u30b3\u30fc\u30c9\u3092\u30c6\u30ad\u30b9\u30c8\u30a8\u30c7\u30a3\u30bf\u7b49\u3092\u4f7f\u3063\u3066\u7d44\u307f\u5408\u308f\u305b\u305f\u308a\u3001\u6761\u4ef6\u5224\u65ad\u7b49\u3092\u8ffd\u52a0\u3059\u308b\u4e8b\u306b\u3088\u308a\u3001\u30ed\u30dc\u30c3\u30c8\u306b\u8907\u96d1\u306a\u52d5\u4f5c\u3084\u69d8\u3005\u306a\u4f5c\u696d\u3092\u884c\u308f\u305b\u308b\u305f\u3081\u306ePython\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u958b\u767a\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

\u305d\u306e\u4ed6\u3001\u753b\u9762\u306e\u5404\u90e8\u306e\u8a73\u7d30\u306b\u3064\u304d\u307e\u3057\u3066\u306f\u3001\u4e0b\u56f3\u3092\u3054\u53c2\u7167\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n

\"\"<\/figure><\/div>\n\n\n\n
  1. 3D\u753b\u9762\u3067\u3059\u3002PaPeRo i \u306e\u52d5\u304d\u3092\u69d8\u3005\u306a\u8996\u70b9\u304b\u3089\u898b\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/li>
  2. \u30e2\u30fc\u30b7\u30e7\u30f3\u306e\u7de8\u96c6\u306b\u7528\u3044\u308b\u5404\u7a2e\u30dc\u30bf\u30f3\u3067\u3059\u3002<\/li>
  3. \u30bf\u30a4\u30e0\u30c1\u30e3\u30fc\u30c8\u3067\u3059\u3002\u30e2\u30fc\u30b7\u30e7\u30f3\u3092\u69cb\u6210\u3059\u308b\u30b7\u30fc\u30b1\u30f3\u30b9\u304c\u6642\u7cfb\u5217\u3067\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u30de\u30a6\u30b9\u3067\u5de6\u53f3\u306b\u30b9\u30af\u30ed\u30fc\u30eb\u3055\u305b\u305f\u308a\u3001\u30b7\u30fc\u30b1\u30f3\u30b9\u3092\u9078\u629e\u3057\u305f\u308a\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002\u30b7\u30fc\u30b1\u30f3\u30b9\u3092\u9078\u629e\u3059\u308b\u3068\u3001\u305d\u306e\u5185\u5bb9\u304c\u30d1\u30e9\u30e1\u30fc\u30bf\u5165\u529b\u6b04\u306b\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/li>
  4. \u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30ea\u30f3\u30af\u53ca\u3073\u30d5\u30a1\u30a4\u30eb\u9078\u629e\u30dc\u30bf\u30f3\u3067\u3059\u3002\u4f5c\u6210\u4e2d\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9(\u4fdd\u5b58)\u3057\u305f\u308a\u3001\u4f5c\u696d\u518d\u958b\u6642\u306b\u8aad\u307f\u8fbc\u307e\u305b\u305f\u308a\u8ffd\u52a0\u3057\u305f\u308a\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/li>
  5. \u30d7\u30ea\u30bb\u30c3\u30c8\u3055\u308c\u305f\u30e2\u30fc\u30b7\u30e7\u30f3\u3067\u3059\u3002\u540d\u524d\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u52d5\u4f5c\u3092\u30d7\u30ec\u30d3\u30e5\u30fc\u3067\u304d\u3001\u300c\u8ffd\u52a0\u300d\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u8ffd\u52a0\u3055\u308c\u307e\u3059\u3002<\/li>
  6. \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u60c5\u5831\u8868\u793a\u753b\u9762\u3067\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3084\u89d2\u5ea6\u3092\u5909\u3048\u305f\u308a\u3001\u30ed\u30dc\u30c3\u30c8\u306b\u8a71\u3057\u304b\u3051\u305f\u308a\u3001\u6c17\u6e29\u30fb\u6e7f\u5ea6\u30fb\u7167\u5ea6\u3092\u8a2d\u5b9a\u3057\u305f\u308a\u3001\u4eba\u611f\u30bb\u30f3\u30b5\u30fc\u30fb\u9854\u691c\u77e5\u30fb\u632f\u52d5\u691c\u77e5\u3092\u52d5\u4f5c\u3055\u305b\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002\u30b9\u30af\u30ea\u30d7\u30c8\u3068\u306e\u901a\u4fe1\u306b\u3088\u308b\u6700\u7d42\u53d7\u4fe1\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u78ba\u8a8d\u3059\u308b\u4e8b\u3082\u3067\u304d\u307e\u3059\u3002<\/li>
  7. \u30d1\u30e9\u30e1\u30fc\u30bf\u5165\u529b\u6b04\u3067\u3059\u3002\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5165\u529b\u3057\u3001\u300c\u8ffd\u52a0\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3068\u3001\u30b7\u30fc\u30b1\u30f3\u30b9\u304c\u8ffd\u52a0\u3055\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u30bf\u30a4\u30e0\u30c1\u30e3\u30fc\u30c8\u3067\u30b7\u30fc\u30b1\u30f3\u30b9\u3092\u9078\u629e\u3059\u308b\u3068\u3001\u5f53\u8a72\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u300c\u8ffd\u52a0\u300d\u30dc\u30bf\u30f3\u304c\u300c\u66f4\u65b0\u300d\u30dc\u30bf\u30f3\u306b\u5909\u308f\u308a\u307e\u3059\u3002<\/li>
  8. \u30b3\u30fc\u30c9\u751f\u6210\u30a8\u30ea\u30a2\u3067\u3059\u3002\u5165\u529b\u3057\u305f\u30b7\u30fc\u30b1\u30f3\u30b9\u306b\u5f93\u3063\u3066PaPeRo i \u3092\u52d5\u304b\u3059\u305f\u3081\u306ePyhton\u30b9\u30af\u30ea\u30d7\u30c8\u304c\u3053\u3053\u306b\u751f\u6210\u3055\u308c\u307e\u3059\u3002\u751f\u6210\u3055\u308c\u305f\u30b3\u30fc\u30c9\u3092\u30c6\u30ad\u30b9\u30c8\u30a8\u30c7\u30a3\u30bf\u306b\u8cbc\u308a\u4ed8\u3051\u3001\u4fdd\u5b58\u3057\u3066\u3001Python\u30b9\u30af\u30ea\u30d7\u30c8\u3068\u3057\u3066\u5b9f\u884c\u3059\u308b\u4e8b\u306b\u3088\u308a\u3001PaPeRo i \u3092\u52d5\u304b\u3059\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/li><\/ol>\n\n\n\n

    \uff14\u3001\u6328\u62f6\u3092\u3055\u305b\u3066\u307f\u308b<\/h4>\n\n\n\n

    \u4eba\u306e\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u306f\u901a\u5e38\u3001\u6328\u62f6\u304b\u3089\u59cb\u307e\u308b\u3082\u306e\u3067\u3059\u3002
    \u305d\u3053\u3067\u3001\u307e\u305a\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u4e2d\u306ePaPeRo i \u306b\u671d\u306e\u6328\u62f6\u3092\u3055\u305b\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
    (1)\u3001[\u9996]\u7e26\u76ee\u6a19\u89d2\u306e\u30c6\u30ad\u30b9\u30c8\u30dc\u30c3\u30af\u30b9\u306b-15\u3001\u79d2\u6570\u306b1\u3068\u5165\u529b\u3057\u3001\u305d\u306e\u96a3\u306e\u300c\u8ffd\u52a0\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \"\"<\/figure><\/div>\n\n\n\n

    (2)\u3001\u305d\u306e\u307e\u307e\u3082\u3046\u4e00\u5ea6\u300c\u8ffd\u52a0\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
    (3)\u3001[\u9996]\u7e26\u76ee\u6a19\u89d2\u306e\u30c6\u30ad\u30b9\u30c8\u30dc\u30c3\u30af\u30b9\u306b0\u3001\u79d2\u6570\u306b1\u3068\u5165\u529b\u3057\u3001\u305d\u306e\u96a3\u306e\u300c\u8ffd\u52a0\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
    (4)\u3001[\u8a71]\u306e\u30c6\u30ad\u30b9\u30c8\u30dc\u30c3\u30af\u30b9\u306b\u300c\u304a\u306f\u3088\u3046\u3054\u3056\u3044\u307e\u3059\u300d\u3068\u5165\u529b\u3057\u3001\u305d\u306e\u96a3\u306e\u300c\u8ffd\u52a0\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \"\"<\/figure><\/div>\n\n\n\n

    (5)\u3001\u3053\u3053\u307e\u3067\u306e\u4f5c\u696d\u304c\u7d42\u308f\u3063\u305f\u3089\u3001\u753b\u9762\u5de6\u4e0a\u306b\u3042\u308b\u518d\u751f\u30dc\u30bf\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u307f\u3066\u4e0b\u3055\u3044\u3002
    3D\u753b\u9762\u4e0a\u306ePaPeRo i \u304c\u300c\u304a\u306f\u3088\u3046\u3054\u3056\u3044\u307e\u3059\u300d\u3068\u8a00\u3044\u306a\u304c\u3089\u9996\u3092\u4e0a\u4e0b\u306b\u56de\u3057\u3066\u304a\u3058\u304e\u3092\u307e\u3059\u3002<\/p>\n\n\n\n

    \u203b\u9996\u3092\u52d5\u304b\u3059\u969b\u3001\u4e0a\u8a18\u306e\u8aac\u660e\u3067\u306f\u30c6\u30ad\u30b9\u30c8\u30dc\u30c3\u30af\u30b9\u306b\u76f4\u63a5\u6570\u5024\u3092\u5165\u529b\u3057\u307e\u3057\u305f\u304c\u3001\u305d\u306e\u96a3\u306b\u3042\u308b\u300c\u56de\u8ee2\u30cf\u30f3\u30c9\u30eb\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3068\u30013D\u753b\u9762\u4e0a\u306ePaPeRo i \u306e\u982d\u306e\u5468\u308a\u306b\u73fe\u308c\u308b\u30cf\u30f3\u30c9\u30eb\u3092\u30de\u30a6\u30b9\u3067\u30c9\u30e9\u30c3\u30b0\u3059\u308b\u4e8b\u3067\u3001\u56de\u8ee2\u89d2\u3092\u6307\u5b9a\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    \"\"<\/figure><\/div>\n\n\n\n

    \uff15\u3001\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u4fdd\u5b58\u3057\u3066\u307f\u308b<\/h4>\n\n\n\n

    \u4e0a\u8a18\u306e\u624b\u9806\u3067\u4f5c\u6210\u3057\u305f\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u306f\u3001\u30d6\u30e9\u30a6\u30b6\u3092\u9589\u3058\u308b\u3068\u6d88\u3048\u3066\u3057\u307e\u3044\u307e\u3059\u3002
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    \u305d\u306e\u3088\u3046\u306a\u5834\u5408\u3001\u30bf\u30a4\u30e0\u30c1\u30e3\u30fc\u30c8\u306e\u3059\u3050\u4e0b\u306b\u3042\u308b\u300c\u30e2\u30fc\u30b7\u30e7\u30f3\u306e\u4fdd\u5b58\u300d\u3068\u3044\u3046\u30ea\u30f3\u30af\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u3001\u73fe\u5728\u4f5c\u6210\u4e2d\u306e\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002
    \u4f5c\u696d\u3092\u518d\u958b\u3059\u308b\u6642\u306f\u3001\u96a3\u306b\u3042\u308b\u300c\u30d5\u30a1\u30a4\u30eb\u3092\u9078\u629e\u300d\u3068\u66f8\u304b\u308c\u305f\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u3001\u8868\u793a\u3055\u308c\u308b\u30c0\u30a4\u30a2\u30ed\u30b0\u3067\u5148\u307b\u3069\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u6307\u5b9a\u3059\u308c\u3070\u3001\u30c7\u30fc\u30bf\u304c\u8aad\u307f\u8fbc\u307e\u308c\u307e\u3059\u3002
    \u3053\u306e\u6642\u3001\u8aad\u307f\u8fbc\u3093\u3060\u30c7\u30fc\u30bf\u3067\u65e2\u5b58\u306e\u30c7\u30fc\u30bf\u3092\u4e0a\u66f8\u304d\u3059\u308b\u304b\u3001\u5f8c\u308d\u306b\u8ffd\u52a0\u3059\u308b\u304b\u3092\u9078\u629e\u3059\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    \"\"<\/figure><\/div>\n\n\n\n

    \uff16\u3001Python\u3067\u52d5\u304b\u3057\u3066\u307f\u308b<\/h4>\n\n\n\n

    \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306ePaPeRo i \u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u64cd\u4f5c\u3060\u3051\u3067\u3082\u52d5\u304b\u3059\u4e8b\u304c\u3067\u304d\u307e\u3059\u304c\u3001\u7279\u5b9a\u306e\u6761\u4ef6\u304c\u6210\u7acb\u3057\u305f\u6642\u306b\u306e\u307f\u52d5\u304b\u3057\u305f\u308a\u3001\u6761\u4ef6\u306b\u3088\u3063\u3066\u52d5\u304b\u3057\u65b9\u3092\u5909\u3048\u305f\u308a\u3057\u305f\u3044\u5834\u5408\u3084\u3001\u5b9f\u6a5f\u3092\u52d5\u304b\u3057\u305f\u3044\u5834\u5408\u306f\u3001Python\u3092\u4f7f\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002
    Python\u3067\u52d5\u304b\u3059\u305f\u3081\u306b\u306f\u3001\u6e96\u5099\u3068\u3057\u3066\u4ee5\u4e0b\u306e\u4f5c\u696d\u304c\u5fc5\u8981\u3067\u3059\u3002
    \u30fbPython\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb(\u63a8\u5968\u30d0\u30fc\u30b8\u30e7\u30f3\u306fPython3.4\u3067\u3059)
    \u2192https:\/\/www.python.org\/<\/a>\u304b\u3089\u5fc5\u8981\u306a\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u4f5c\u696d\u3092\u884c\u3044\u307e\u3059\u3002
    \u30fbPython\u7528\u30d1\u30c3\u30b1\u30fc\u30b8\u7ba1\u7406\u30c4\u30fc\u30eb(pip)\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb
    \u2192\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3059\u308b\u4e8b\u306b\u3088\u308a\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    python -m ensurepip<\/p>\n\n\n\n

    \u30fb\u901a\u4fe1\u30e9\u30a4\u30d6\u30e9\u30ea(tornado\u53ca\u3073ws4py)\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb
    \u2192\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3059\u308b\u4e8b\u306b\u3088\u308a\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    pip install tornado
    pip install ws4py<\/p>\n\n\n\n

    \u30fbPaPeRo i \u5236\u5fa1\u7528\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9
    \u2192    \u3053\u3061\u3089<\/a>\u304b\u3089\u300cPaPeRo i \u5236\u5fa1\u7528Python\u30e9\u30a4\u30d6\u30e9\u30ea\u300d\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u3000\u4e0a\u8a18\u306e\u4f5c\u696d\u3092\u5b9f\u65bd\u5f8c\u3001\u4ee5\u4e0b\u306e\u624b\u9806\u3092\u5b9f\u884c\u3059\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306ePaPeRo i \u3092Python\u306b\u3088\u308a\u52d5\u304b\u3059\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002
    \u3000(1)\u3001PaPeRo i \u5236\u5fa1\u7528\u30e9\u30a4\u30d6\u30e9\u30ea\u306ezip\u30d5\u30a1\u30a4\u30eb(pypapero.zip)\u304b\u3089pypapero.py\u3092\u53d6\u308a\u51fa\u3057\u3001\u4efb\u610f\u306e\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304d\u307e\u3059\u3002
    \u3000(2)\u3001\u300c\u751f\u6210\u30b3\u30fc\u30c9\u300d\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u73fe\u308c\u308b\u30c6\u30ad\u30b9\u30c8\u30a8\u30ea\u30a2\u306e\u3059\u3050\u4e0a\u306b\u3042\u308b\u300c\u751f\u6210\u7bc4\u56f2\u300d\u306e\u30ea\u30b9\u30c8\u30dc\u30c3\u30af\u30b9\u304c\u300c\u5168\u4f53\u300d\u3068\u306a\u3063\u3066\u3044\u308b\u4e8b\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002
    \u3000(3)\u3001\u30c6\u30ad\u30b9\u30c8\u30a8\u30ea\u30a2\u306e\u5185\u5bb9\u3092\u30b3\u30d4\u30fc\u3057\u307e\u3059\u3002
    \u3000(4)\u3001\u30e1\u30e2\u5e33\u53c8\u306f\u4efb\u610f\u306e\u30c6\u30ad\u30b9\u30c8\u30a8\u30c7\u30a3\u30bf\u3092\u8d77\u52d5\u3057\u3001\u30b3\u30d4\u30fc\u3057\u305f\u5185\u5bb9\u3092\u5f35\u308a\u4ed8\u3051\u3001\u6587\u5b57\u30b3\u30fc\u30c9\u3092UTF-8\u3068\u3057\u3066(1)\u306e\u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3057\u307e\u3059\u3002
    \u3000(5)\u3001\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u3092\u7acb\u3061\u4e0a\u3052\u3001\u30ab\u30ec\u30f3\u30c8\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092(1)\u306e\u30d5\u30a9\u30eb\u30c0\u306b\u3057\u307e\u3059\u3002
    \u3000(6)\u3001\u30b9\u30af\u30ea\u30d7\u30c8\u5b9f\u884c\u306e\u70ba\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3057\u307e\u3059\u3002
    \u3000\u3000\u3000((4)\u3067\u4fdd\u5b58\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u540d\u3092\u201dtmp.py\u201d\u3068\u4eee\u5b9a\u3057\u305f\u5834\u5408\u3001\u300cpython tmp.py -sim \u30b7\u30df\u30e5\u30ec\u30fc\u30bfID\u300d\u3068\u5165\u529b\u3057\u307e\u3059)<\/p>\n\n\n\n

    \u203b\u300cpython tmp.py\u300d\u306e\u5f8c\u308d\u306b\u300c-sim \u30b7\u30df\u30e5\u30ec\u30fc\u30bfID\u300d\u306e\u3088\u3046\u306b\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30bfID\u3092\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002
    \u3000\u30b7\u30df\u30e5\u30ec\u30fc\u30bfID\u306f\u30013D\u753b\u9762\u306e\u5de6\u4e0b\u306b\u8868\u793a\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

    \uff17\u3001\u30dc\u30bf\u30f3\u64cd\u4f5c\u306b\u53cd\u5fdc\u3055\u305b\u3066\u307f\u308b<\/h4>\n\n\n\n

    \u30dc\u30bf\u30f3\u64cd\u4f5c\u306b\u5f93\u3063\u3066\u4f5c\u696d\u3092\u884c\u3046\u70ba\u306b\u306f\u3001PaPeRo i \u304b\u3089\u9001\u3089\u308c\u3066\u304f\u308b\u30a4\u30d9\u30f3\u30c8\u3092Python\u30b9\u30af\u30ea\u30d7\u30c8\u3067\u76e3\u8996\u3057\u3001\u30a4\u30d9\u30f3\u30c8\u306e\u5185\u5bb9\u306b\u5f93\u3063\u305f\u51e6\u7406\u3092\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002
    \u4f8b\u3068\u3057\u3066\u3001\u4e2d\u30dc\u30bf\u30f3\u304c\u62bc\u3055\u308c\u305f\u3089PaPeRo i \u304c\u6328\u62f6\u3092\u3057\u3001\u4ed6\u306e\u30dc\u30bf\u30f3\u304c\u62bc\u3055\u308c\u305f\u3089\u30b9\u30af\u30ea\u30d7\u30c8\u304c\u7d42\u4e86\u3059\u308b\u3088\u3046\u306b\u3059\u308b\u70ba\u306b\u306f\u3001\uff16\u3067\u4f5c\u6210\u3057\u305fPython\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u4fee\u6b63\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    # -*- coding:utf-8 -*-\nimport sys\n\nimport pypapero\n\n\ndef my_func(papero):\n    papero.send_move_head([\"A-15T1000L\", \"R0T1000L\", \"A0T1000L\"],\n                          [\"A0T1000L\", \"R0T2000L\"])\n    papero.send_start_speech(\"\u304a\u306f\u3088\u3046\u3054\u3056\u3044\u307e\u3059\")\n\n\nif __name__ == \"__main__\":\n    simulator_id, robot_name, ws_server_addr = pypapero.get_params_from_commandline(sys.argv)\n    papero = pypapero.Papero(simulator_id, robot_name, ws_server_addr)\n    if papero.errOccurred == 0:\n        while True:\n            messages = papero.papero_robot_message_recv(1.0)\n            if (messages is not None) and (messages[0][\"Name\"] == \"detectButton\"):\n                if messages[0][\"Status\"]==\"C\":\n                    my_func(papero)\n                else:\n                    break;\n    papero.papero_cleanup()<\/pre>\n\n\n\n
    18\u884c\u76ee\u306e\u300cmessages = papero.papero_robot_message_recv(1.0)\u300d\u3067\u3001PaPeRo i \u304b\u3089\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u53d7\u3051\u53d6\u3063\u3066\u3044\u307e\u3059\u3002
    \u5f15\u6570\u306e1.0\u306f\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8(\u79d2)\u3067\u3001\u3053\u306e\u6642\u9593\u5185\u306b\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u53d7\u3051\u53d6\u308c\u306a\u3044\u5834\u5408\u3001messages\u306b\u306fNone\u304c\u5165\u308a\u307e\u3059\u3002
    PaPeRo i \u306e\u30dc\u30bf\u30f3\u304c\u62bc\u3055\u308c\u308b\u3068\u3001detectButton\u30a4\u30d9\u30f3\u30c8\u304c\u30e1\u30c3\u30bb\u30fc\u30b8\u3068\u3057\u3066\u9001\u3089\u308c\u3001\u62bc\u3055\u308c\u305f\u30dc\u30bf\u30f3\u306e\u7a2e\u985e\u3092\u8868\u3059\u6587\u5b57\u5217\u304c\u201dStatus\u201d\u3068\u3044\u3046\u9805\u76ee\u306e\u5024\u3068\u3057\u3066\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002
    \u3053\u306e\u5024\u304c\u201dC\u201d\u3067\u3042\u308c\u3070\u4e2d\u30dc\u30bf\u30f3\u3001\u305d\u308c\u4ee5\u5916\u3067\u3042\u308c\u3070\u4ed6\u306e\u30dc\u30bf\u30f3\u304c\u62bc\u3055\u308c\u305f\u4e8b\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    \u30a4\u30d9\u30f3\u30c8\u306b\u3064\u3044\u3066\u306f\u4ed6\u306b\u3082\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308a\u3001\u305d\u308c\u3089\u3092\u6d3b\u7528\u3059\u308b\u4e8b\u306b\u3088\u308a\u3001PaPeRo i \u306b\u3088\u3063\u3066\u691c\u77e5\u3055\u308c\u308b\u69d8\u3005\u306a\u4e8b\u8c61\u306b\u5fdc\u3058\u305f\u52d5\u4f5c\u3092\u3055\u305b\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002
    \u30a4\u30d9\u30f3\u30c8\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3001    Python\u30e9\u30a4\u30d6\u30e9\u30ea(pypapero.py)\u30ea\u30d5\u30a1\u30ec\u30f3\u30b9\u30de\u30cb\u30e5\u30a2\u30eb<\/a>\u3092\u3054\u53c2\u7167\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n
    \uff18\u3001\u81ea\u5206\u306e\u65b9\u3092\u5411\u304b\u305b\u3066\u307f\u308b<\/h4>\n\n\n\n
    \u4eba\u304c\u8a71\u3092\u3059\u308b\u969b\u306b\u76f8\u624b\u306b\u9854\u3092\u5411\u3051\u308b\u306e\u306f\u3001\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u57fa\u672c\u3067\u3042\u308b\u3068\u8a00\u308f\u308c\u3066\u3044\u307e\u3059\u3002
    \u305d\u3053\u3067\u3001\u30a4\u30d9\u30f3\u30c8\u51e6\u7406\u306e\u3082\u3046\u4e00\u3064\u306e\u4f8b\u3068\u3057\u3066\u3001\u3053\u3053\u3067\u306fPaPeRo i \u306e\u9854\u8a8d\u8b58\u6a5f\u80fd\u3092\u4f7f\u3063\u3066\u3001PaPeRo i \u306b\u3053\u3061\u3089\u3092\u5411\u304b\u305b\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n
    # -*- coding:utf-8 -*-\nimport sys\nimport math\nfrom enum import Enum\n\nimport pypapero\n\n\nclass State(Enum):\n    st0 = 10\n    st1 = 11\n    st2 = 12                                                           # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n    end = 999\n\n\ndef main(papero):\n    state = State.st0\n    while state != State.end:\n        messages = papero.papero_robot_message_recv(1.0)\n        if messages is not None:\n            msg_dic_rcv = messages[0]\n        else:\n            msg_dic_rcv = None\n        if papero.errOccurred != 0:\n            print(\"------Error occured(main()). Detail : \" + papero.errDetail)\n            break\n        if state == State.st0:\n            papero.send_start_face_detection(\"30\")\n            state = State.st1\n        elif state == State.st1:\n            if msg_dic_rcv is not None:\n                if msg_dic_rcv[\"Name\"] == \"detectFace\":\n                    left_eye_pos = pypapero.get_numstr_list_from_coord(msg_dic_rcv[\"LeftEyePos\"])\n                    right_eye_pos = pypapero.get_numstr_list_from_coord(msg_dic_rcv[\"RightEyePos\"])\n                    frame_size = pypapero.get_numstr_list_from_coord(msg_dic_rcv[\"Framesize\"])\n                    head_pos = pypapero.get_numstr_list_from_coord(msg_dic_rcv[\"HeadPos\"])\n                    x = (int(left_eye_pos[0]) + int(right_eye_pos[0])) \/ 2\n                    y = (int(left_eye_pos[1]) + int(right_eye_pos[1])) \/ 2\n                    xc = int(frame_size[0]) \/ 2\n                    yc = int(frame_size[1]) \/ 2\n                    angle_v = int(head_pos[0])\n                    angle_h = int(head_pos[1])\n                    angle_v2 = int(angle_v + (240.0 - y) * 18.5 \/ 240.0)\n                    angle_h2 = int(angle_h + (320.0 - x) * 24.4 \/ 320.0)\n                    if angle_v2 < (-15):\n                        angle_v2 = (-15)\n                    elif angle_v2 > 50:\n                        angle_v2 = 50\n                    if angle_h2 < (-120):\n                        angle_h2 = (-120)\n                    elif angle_h2 > 120:\n                        angle_h2 = 120\n                    seq_v = [\"A\" + str(angle_v2) + \"S120L\"]\n                    seq_h = [\"A\" + str(angle_h2) + \"S120L\"]\n                    papero.send_move_head(seq_v, seq_h)\n                    state = State.st2                                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n               #elif msg_dic_rcv[\"Name\"] == \"detectButton\":            # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n               #    papero.send_stop_face_detection()                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n               #    state = State.end                                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n        elif state == State.st2:                                       # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n            if msg_dic_rcv[\"Name\"] == \"moveFinish\":                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                state = State.st1                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n        if msg_dic_rcv is not None:                                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n            if msg_dic_rcv[\"Name\"] == \"detectButton\":                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                papero.send_stop_face_detection()                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                state = State.end                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n\n\nif __name__ == \"__main__\":\n    simulator_id, robot_name, ws_server_addr = pypapero.get_params_from_commandline(sys.argv)\n    papero = pypapero.Papero(simulator_id, robot_name, ws_server_addr)\n    if papero.errOccurred == 0:\n        main(papero)\n    papero.papero_cleanup()<\/pre>\n\n\n\n
    69\u884c\u76ee\u306e if name<\/strong> == \u201cmain<\/strong>\u201c: \u306e\u90e8\u5206\u306f\u3001\u76f4\u63a5\u30b9\u30af\u30ea\u30d7\u30c8\u3068\u3057\u3066\u547c\u3073\u51fa\u3057\u305f\u6642\u306e\u307f\u5b9f\u884c\u3055\u308c\u3066\u3001\u5225\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u304b\u3089\u547c\u3073\u51fa\u3055\u308c\u305f\u6642\u306b\u306f\u5b9f\u884c\u3055\u308c\u306a\u3044\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306e\u8a18\u8ff0\u3067\u3059\u3002
    70\u884c\u76ee\u3067\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u5f15\u6570\u304b\u3089\u63a5\u7d9a\u5148\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fb\u30ed\u30dc\u30c3\u30c8\u30fbWebSocket\u30b5\u30fc\u30d0\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u5f15\u6570\u304b\u3089\u62bd\u51fa\u3057\u300171\u884c\u76ee\u3067Papero\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3092\u751f\u6210\u3057\u3066\u3044\u307e\u3059\u3002
    72\u884c\u76ee\u3067\u30a8\u30e9\u30fc\u304c\u8d77\u304d\u3066\u3044\u306a\u3044\u4e8b\u3092\u78ba\u8a8d\u3057\u3001\u30a8\u30e9\u30fc\u304c\u8d77\u304d\u3066\u3044\u306a\u3051\u308c\u3070\u672c\u4f53\u51e6\u7406\u3067\u3042\u308bmain\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u3066\u3044\u307e\u3059\u3002
    \u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u306e\u5927\u307e\u304b\u306a\u6d41\u308c\u306f\u3001
    \u30fb\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u6cc1\u306e\u628a\u63e1
    \u30fb\u72b6\u6cc1\u306b\u5fdc\u3058\u305f\u52d5\u4f5c\u306e\u5b9f\u884c
    \u306e\uff12\u3064\u3092\u7e70\u308a\u8fd4\u3059\u3068\u3044\u3046\u3082\u306e\u306b\u306a\u308a\u307e\u3059\u3002
    PaPeRo i \u306e\u5834\u5408\u3001\u72b6\u6cc1\u3092\u77e5\u308b\u624b\u304c\u304b\u308a\u3068\u3057\u3066\u306f\u901a\u4fe1\u3067\u9001\u3089\u308c\u3066\u304f\u308b\u30a4\u30d9\u30f3\u30c8\u7b49\u304c\u6319\u3052\u3089\u308c\u307e\u3059\u304c\u3001\u305d\u308c\u4ee5\u5916\u306b\u3082\u6642\u9593\u306e\u7d4c\u904e\u3084\u904e\u53bb\u306e\u901a\u4fe1\u306b\u95a2\u3059\u308b\u8a18\u61b6\u7b49\u304c\u5229\u7528\u3067\u304d\u308b\u5834\u5408\u3082\u3042\u308a\u307e\u3059\u3002
    \u4eca\u56de\u306e\u4f8b\u3067\u306f\u3001\u72b6\u6cc1\u628a\u63e1\u306b\u7528\u3044\u308b\u8a18\u61b6\u306e\u4e00\u90e8\u3092\u300c\u72b6\u614b\u300d\u3068\u3057\u3066\u5909\u6570state\u306b\u8a18\u61b6\u3057\u3066\u304a\u308a\u3001\u305d\u306e\u5024\u306e\u8868\u73fe\u306e\u70ba\u306bEnum\u30af\u30e9\u30b9\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002
    \u521d\u671f\u72b6\u614b\u306fst0\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u3053\u306e\u72b6\u614b\u3067\u306f\u7121\u6761\u4ef6\u3067\u9854\u8a8d\u8b58\u958b\u59cb\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u3001st1\u306b\u306a\u308a\u307e\u3059\u3002
    st1\u306e\u72b6\u614b\u3067detectFace\u30a4\u30d9\u30f3\u30c8\u3092\u53d7\u4fe1\u3057\u305f\u3089\u3001\u30a4\u30d9\u30f3\u30c8\u306b\u542b\u307e\u308c\u308b\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u9996\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a08\u7b97\u3057\u3001moveHead\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u307e\u3059\u3002
    MoveHead\u30b3\u30de\u30f3\u30c9\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u300153\uff5e54\u884c\u76ee\u3067\u7d44\u307f\u7acb\u3066\u3066\u3044\u307e\u3059\u3002
    moveHead\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u305f\u3089\u3001\u72b6\u614b\u3092st2\u306b\u5909\u3048\u307e\u3059\u3002
    st2\u306e\u72b6\u614b\u3067moveFinish\u30a4\u30d9\u30f3\u30c8\u3092\u53d7\u4fe1\u3057\u305f\u3089\u3001\u72b6\u614b\u3092st1\u306b\u623b\u3057\u307e\u3059\u3002
    \u3044\u305a\u308c\u306e\u72b6\u614b\u3067\u3082\u3001detectButton\u30a4\u30d9\u30f3\u30c8\u3092\u53d7\u4fe1\u3057\u305f\u3089\u3001\u9854\u8a8d\u8b58\u7d42\u4e86\u306e\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u3001\u30b9\u30af\u30ea\u30d7\u30c8\u81ea\u4f53\u3082\u7d42\u4e86\u3057\u307e\u3059\u3002

    \u203b\u672c\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u52d5\u304b\u3059\u5834\u5408\u3001\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u8d77\u52d5\u5f8c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u5185\u306ePaPeRo i \u306b\u9854\u3092\u898b\u305b\u308b\u305f\u3081\u306b\u3001\u753b\u9762\u53f3\u4e0a\u306e\u300c\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u300d\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u73fe\u308c\u308b\u67a0\u306e\u4e2d\u307b\u3069\u53f3\u5074\u4ed8\u8fd1\u306b\u3042\u308b\u300c\u9854\u300d\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u3066\u4e0b\u3055\u3044\u3002\u305d\u306e\u5f8c\u30013D\u753b\u9762\u4e0a\u3067\u30de\u30a6\u30b9\u3092\u52d5\u304b\u3057\u8996\u70b9\u3092\u5909\u3048\u308b\u3068\u3001\u9854\u304c\u52d5\u304d\u307e\u3059\u3002\u9854\u306e\u52d5\u304d\u306b\u53cd\u5fdc\u3057\u3066PaPeRo i \u306e\u9996\u304c\u52d5\u304f\u4e8b\u3092\u78ba\u8a8d\u3057\u3066\u307f\u3066\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n
    \uff19\u3001\u3044\u304f\u3064\u304b\u306e\u6587\u8a00\u3092\u9023\u7d9a\u3067\u3057\u3083\u3079\u3089\u305b\u308b<\/h4>\n\n\n\n
    \u9996\u632f\u308a\u52d5\u4f5c\u3084LED\u306e\u70b9\u706f\u52d5\u4f5c\u306f\u3001PaPeRo i \u304b\u3089\u9001\u3089\u308c\u308b\u30a4\u30d9\u30f3\u30c8\u3092\u76e3\u8996\u3059\u308b\u4e8b\u306b\u3088\u3063\u3066\u5b8c\u4e86\u3092\u77e5\u308b\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002
    \u3057\u304b\u3057\u3001\u767a\u8a71\u52d5\u4f5c\u306e\u5b8c\u4e86\u3092\u4f1d\u3048\u308b\u30a4\u30d9\u30f3\u30c8\u306f\u3042\u308a\u307e\u305b\u3093\u3002
    \u305d\u308c\u3067\u306f\u767a\u8a71\u306e\u5b8c\u4e86\u306f\u3069\u306e\u3088\u3046\u306b\u3057\u3066\u78ba\u8a8d\u3059\u308b\u304b\u3068\u3044\u3046\u3068\u3001getSpeechStatus\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u3044\u307e\u3059\u3002
    \u4ee5\u4e0b\u306b\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    # -*- coding:utf-8 -*-\nimport sys\nimport time\nfrom enum import Enum\n\nimport pypapero\n\n\nclass State(Enum):\n    st0 = 10\n    st1 = 11\n    st2 = 12\n    st3 = 13\n    st4 = 14\n    st5 = 15\n    end = 999\n\n\ndef main(papero):\n    state = State.st0\n    last_time = time.monotonic()\n    past_time = 0\n    speech_idx = 0\n    speech_words = [\"\u3042\u3044\u3046\u3048\u304a\u304b\u304d\u304f\u3051\u3053\",\n                    \"\u3055\u3057\u3059\u305b\u305d\u305f\u3061\u3064\u3066\u3068\",\n                    \"\u3068\u306a\u308a\u306e\u304d\u3083\u304f\u306f\u3088\u304f\u304b\u304d\u304f\u3046\u304d\u3083\u304f\u3060\",\n                    \"\u3042\u304b\u307e\u304d\u304c\u307f\u3042\u304a\u307e\u304d\u304c\u307f\u304d\u307e\u304d\u304c\u307f\"]\n    left_right=0\n    head_moving = False                                                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n    finish_requested = False                                               # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n    while state != State.end:\n        messages = papero.papero_robot_message_recv(1.0)\n        now_time = time.monotonic()\n        delta_time = now_time - last_time\n        last_time = now_time\n        if messages is not None:\n            msg_dic_rcv = messages[0]\n        else:\n            msg_dic_rcv = None\n        if papero.errOccurred != 0:\n            print(\"------Error occured(main()). Detail : \" + papero.errDetail)\n            break\n        # \u9023\u7d9a\u767a\u8a71\n        if state == State.st0:\n            papero.send_turn_led_on(\"mouth\", \n                                    [\"G3G3G3G3G3G3G3G3G3\", \"2\", \"NNG3G3G3G3G3NN\", \"2\",\n                                     \"NNNG3G3G3NNN\", \"2\", \"NNG3G3G3G3G3NN\", \"2\"], repeat=True)\n            state = State.st1\n        elif state == State.st1:\n           #if(left_right==0):                                             # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #    papero.send_move_head([\"A0S120L\"],[\"A50S120L\"])            # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #else:                                                          # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #    papero.send_move_head([\"A0S120L\"],[\"A-50S120L\"])           # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #left_right = 1-left_right;                                     # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #papero.send_start_speech(speech_words[speech_idx])             # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #speech_idx += 1                                                # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #if speech_idx >= len(speech_words):                            # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #    speech_idx = 0                                             # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #past_time = 0                                                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #state = State.st2                                              # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n            if not head_moving:                                            # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                if finish_requested:                                       # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    state = State.st4                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                else:                                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    if(left_right==0):                                     # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                        papero.send_move_head([\"A0S120L\"],[\"A50S120L\"])    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    else:                                                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                        papero.send_move_head([\"A0S120L\"],[\"A-50S120L\"])   # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    head_moving = True                                     # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    left_right = 1-left_right;                             # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    papero.send_start_speech(speech_words[speech_idx])     # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    speech_idx += 1                                        # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    if speech_idx >= len(speech_words):                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                        speech_idx = 0                                     # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    past_time = 0                                          # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                    state = State.st2                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n        elif state == State.st2:\n            past_time += delta_time\n            if past_time >= 1.0:\n                papero.send_get_speech_status()\n                state = State.st3\n        elif state == State.st3:\n            if msg_dic_rcv is not None:\n                if msg_dic_rcv[\"Name\"] == \"getSpeechStatusRes\":\n                    if str(msg_dic_rcv[\"Return\"]) == \"0\":\n                        state = State.st1\n                    else:\n                        past_time = 0\n                        state = State.st2\n        elif state == State.st4:\n            papero.send_move_head([\"A0T500L\", \"A-15T500L\", \"R0T1000L\", \"A0T500L\"],\n                                  [\"A0T500L\", \"R0T2000L\"])\n            head_moving = True                                             # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n            papero.send_start_speech(\"\u3069\u3046\u3082\u3001\u304a\u305d\u307e\u3064\u3055\u307e\u3067\u3057\u305f\")\n            state = State.st5\n        elif state == State.st5:\n           #if msg_dic_rcv is not None:                                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #    if msg_dic_rcv[\"Name\"] == \"moveFinish\":                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #        papero.send_turn_led_off(\"mouth\")                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #        state = State.end                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n            if not head_moving:                                            # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                papero.send_turn_led_off(\"mouth\")                          # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                state = State.end                                          # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n        # \u9996\u52d5\u4f5c\u5b8c\u4e86\u76e3\u8996                                                   # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n        if msg_dic_rcv is not None:                                        # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n            if msg_dic_rcv[\"Name\"] == \"moveFinish\":                        # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                head_moving = False                                        # 2019\/05\/27 \u9996\u52d5\u4f5c\u5f85\u5b8c\u4e86\u3061\u306e\u70ba\u8ffd\u52a0\n        # \u30dc\u30bf\u30f3\u306e\u76e3\u8996\n        if msg_dic_rcv is not None:\n           #if msg_dic_rcv is not None:                                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #    if msg_dic_rcv[\"Name\"] == \"detectButton\":                  # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n           #        state = State.st4                                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u524a\u9664\n            if msg_dic_rcv[\"Name\"] == \"detectButton\":                      # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n                finish_requested = True                                    # 2019\/05\/27 \u9996\u52d5\u4f5c\u5b8c\u4e86\u5f85\u3061\u306e\u70ba\u8ffd\u52a0\n\n\nif __name__ == \"__main__\":\n    simulator_id, robot_name, ws_server_addr = pypapero.get_params_from_commandline(sys.argv)\n    papero = pypapero.Papero(simulator_id, robot_name, ws_server_addr)\n    if papero.errOccurred == 0:\n        main(papero)\n    papero.papero_cleanup()<\/pre>\n\n\n\n
    \u3053\u306e\u30b9\u30af\u30ea\u30d7\u30c8\u306f\u3001\u982d\u3092\u5de6\u53f3\u306b\u56de\u3057\u306a\u304c\u3089\u300124\uff5e27\u884c\u76ee\u306b\u8a18\u8f09\u3057\u305f\u30c6\u30ad\u30b9\u30c8\u3092\u9806\u756a\u306b\u7e70\u308a\u8fd4\u3057\u767a\u8a71\u3059\u308b\u3082\u306e\u3067\u3059\u3002<\/p>\n\n\n\n
    43\u884c\u76ee\u304b\u3089103\u884c\u76ee\u307e\u3067\u304c\u8aad\u307f\u4e0a\u3052\u52d5\u4f5c\u672c\u4f53\u3067\u3059\u3002
    state\u304cState.st0\u306e\u6642\u306b\u53e3\u30d1\u30af\u306e\u305f\u3081\u306eLED\u70b9\u706f\u52d5\u4f5c\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u3066\u3044\u307e\u3059\u3002repeat=True\u3068\u3057\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u3053\u306e\u53e3\u30d1\u30af\u306eLED\u52d5\u4f5c\u306f\u6d88\u706f\u30b3\u30de\u30f3\u30c9\u3092\u767a\u884c\u3059\u308b\u307e\u3067\u7e70\u308a\u8fd4\u3055\u308c\u307e\u3059\u3002
    state\u304cState.st1\u306e\u6642\u306b\u3001\u9996\u304c\u52d5\u3044\u3066\u3044\u306a\u3051\u308c\u3070\u3001\u9996\u3092\u5de6\u53f3\u306b\u56de\u3059\u30b3\u30de\u30f3\u30c9\u3068\u3001\u767a\u8a71\u306e\u30b3\u30de\u30f3\u30c9\u3092\u767a\u884c\u3057\u3001\u72b6\u614b\u3092State.st2\u306b\u5909\u3048\u3066\u3044\u307e\u3059\u3002
    State.st2\u3067\u6642\u9593\u3092\u76e3\u8996\u3057\u300180\u884c\u76ee\u3067getSpeechStatus\u30b3\u30de\u30f3\u30c9\u3092\u767a\u884c\u3057\u3066\u3044\u307e\u3059\u3002
    State.st3\u3067\u5fdc\u7b54\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u5185\u5bb9\u3092\u78ba\u8a8d\u3057\u3001getSpeechStatusRes\u306eReturn\u306e\u5024\u304c\u201d0\u2033\u3067\u3042\u308c\u3070\u767a\u8a71\u5b8c\u4e86\u3068\u898b\u306a\u3057\u3066\u6b21\u306e\u767a\u8a71\u306b\u79fb\u308b\u305f\u3081\u3001state\u3092State.st1\u306b\u623b\u3057\u307e\u3059\u304c\u3001Return\u306e\u5024\u304c\u201d0\u2033\u3067\u306a\u3051\u308c\u3070\u518d\u5ea6\u306e\u6642\u9593\u76e3\u8996\u53ca\u3073getSpeechStatus\u30b3\u30de\u30f3\u30c9\u767a\u884c\u306e\u305f\u3081\u3001state\u3092State.st2\u306b\u623b\u3057\u307e\u3059\u3002
    104\uff5e107\u884c\u76ee\u3067moveFinish\u30a4\u30d9\u30f3\u30c8\u3092\u76e3\u8996\u3057\u3001\u9996\u304c\u52d5\u3044\u3066\u3044\u308b\u304b\u3069\u3046\u304b\u3092\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002
    \u30dc\u30bf\u30f3\u306e\u76e3\u8996\u306f108\u884c\u76ee\u304b\u3089114\u884c\u76ee\u3067\u884c\u3063\u3066\u304a\u308a\u3001detectButton\u30a4\u30d9\u30f3\u30c8\u53d7\u4fe1\u6642\u306bfinish_requested\u3092True\u306b\u3057\u3066\u3044\u307e\u3059\u3002
    State.st1\u3067finish_requested\u304cTrue\u306e\u5834\u5408\u306f\u3001state\u3092State.st4\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
    state\u304cState.st4\u306e\u6642\u300191\u884c\u76ee\u304b\u308995\u884c\u76ee\u3067\u304a\u8f9e\u5100\u3068\u6328\u62f6\u6587\u767a\u8a71\u306e\u30b3\u30de\u30f3\u30c9\u3092\u767a\u884c\u3057\u3066State.st5\u306b\u79fb\u308a\u307e\u3059\u3002
    state\u304cState.st5\u306e\u6642\u3001\u9996\u304c\u505c\u6b62\u3057\u305f\u3089LED\u306e\u6d88\u706f\u30b3\u30de\u30f3\u30c9\u3092\u767a\u884c\u3057\u3066\u7d42\u4e86\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    10\u3001\u7559\u610f\u4e8b\u9805<\/h4>\n\n\n\n
    \u30fb\u767a\u8a71\u306e\u969b\u306e\u5404\u97f3\u306e\u51fa\u308b\u30bf\u30a4\u30df\u30f3\u30b0\u7b49\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306ePaPeRo i \u306e\u52d5\u304d\u304c\u5b9f\u6a5f\u306e\u305d\u308c\u3068\u5b8c\u5168\u306b\u306f\u4e00\u81f4\u3057\u306a\u3044\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
    \u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u306e\u767a\u8a71\u306b\u306f\u3001\u8a00\u8a9e\u30fb\u9ad8\u7a0b\u97f3\u30fb\u901f\u5ea6\u30fb\u97f3\u91cf\u30fb\u6587\u7ae0\u9593\u30dd\u30fc\u30ba\u6642\u9593\u30fb\u30ab\u30f3\u30de\u30dd\u30fc\u30ba\u6642\u9593\u7b49\u306e\u5909\u66f4\u306f\u53cd\u6620\u3055\u308c\u307e\u305b\u3093\u3002
    \u30fb\u30e2\u30fc\u30bf\u30fc\u52d5\u4f5c\u30b7\u30fc\u30b1\u30f3\u30b9\u306e\u4f4d\u7f6e\u30fb\u901f\u5ea6\u30fb\u52a0\u901f\u5ea6\u306e\u6307\u5b9a\u306b\u306f\u3044\u304f\u3064\u304b\u306e\u6307\u5b9a\u65b9\u6cd5\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u30b3\u30fc\u30c9\u751f\u6210\u6a5f\u80fd\u3067\u306f\u89d2\u5ea6\u306f\u7d76\u5bfe\u4f4d\u7f6e\u3001\u901f\u5ea6\u306f\u6642\u9593\u6307\u5b9a\u3001\u52a0\u901f\u5ea6\u306f\u4f4e\u901f\u6307\u5b9a\u3068\u306a\u308a\u307e\u3059\u3002
    \u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306b\u3088\u308b\u52a0\u901f\u5ea6\u30bb\u30f3\u30b5\u30fc\u306b\u3088\u308b\u63fa\u308c\u691c\u77e5\u306e\u518d\u73fe\u306f\u3001\u7c21\u6613\u7684\u306a\u3082\u306e\u3068\u306a\u3063\u3066\u304a\u308a\u307e\u3059\u3002
    \u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u306f\u3001\u30ab\u30e1\u30e9\u306b\u3088\u308b\u5199\u771f\u64ae\u5f71\u306b\u95a2\u3059\u308b\u901a\u4fe1\u3092\u518d\u73fe\u3059\u308b\u4e8b\u306f\u3067\u304d\u307e\u3059\u304c\u3001\u753b\u50cf\u3092\u53d6\u5f97\u3059\u308b\u4e8b\u306f\u3067\u304d\u307e\u305b\u3093\u3002
    \u30fb\u9332\u97f3\u30fb\u518d\u751f\u6a5f\u80fd\u306b\u3064\u3044\u3066\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u306f\u901a\u4fe1\u306e\u307f\u306e\u518d\u73fe\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    11\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u52d5\u4f5c\u74b0\u5883<\/h4>\n\n\n\n
    \u63a8\u5968\u74b0\u5883\uff1a
    \u2460Google Chrome 50.0.2661.102m \u4ee5\u4e0a
    \u3000(\u30d3\u30c7\u30aa\u30ab\u30fc\u30c9\u304cOpenGL3.2\u4ee5\u4e0a\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u5834\u5408)
    \u2461Internet Explorer 11 \u4ee5\u4e0a
    \u3000(Google Chrome \u3067\u52d5\u4f5c\u3057\u306a\u3044\u5834\u5408)<\/p>\n\n\n\n
    \u3000\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u306f\u3001PaPeRo i \u306e\u767a\u8a71\u306e\u8868\u73fe\u306b\u3001WebSpeechAPI\u3092\u4f7f\u7528\u3057\u3066\u304a\u308a\u307e\u3059\u3002
    \u3000Internet Explorer \u3067\u306fWebSpeechAPI\u304c\u4f7f\u7528\u3067\u304d\u306a\u3044\u70ba\u3001\u767a\u8a71\u306e\u8868\u73fe\u306f\u30c6\u30ed\u30c3\u30d7\u306e\u307f\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    \u3000\u307e\u305a\u306f\u3001Google Chrome \u3067\u304a\u8a66\u3057\u4e0b\u3055\u3044\u3002
    \u3000Google Chrome \u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u304c\u52d5\u304b\u306a\u3044\u5834\u5408\u306f\u3001\u4ee5\u4e0b\u3092\u304a\u8a66\u3057\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n
    \u30fbChrome\u306e\u30e1\u30cb\u30e5\u30fc\u2192\u8a73\u7d30\u8a2d\u5b9a
    \u3000\u3067\u8868\u793a\u3055\u308c\u308b\u30da\u30fc\u30b8\u306e\u300c\u8a73\u7d30\u8a2d\u5b9a\u3092\u8868\u793a\u300d\u3092\u30af\u30ea\u30c3\u30af\u2192
    \u3000\u300c\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u30a2\u30af\u30bb\u30e9\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u4f7f\u7528\u53ef\u80fd\u306a\u5834\u5408\u306f\u4f7f\u7528\u3059\u308b\u300d\u306b\u30c1\u30a7\u30c3\u30af\u3092\u5165\u308c\u308b
    \u30fb\u30a2\u30c9\u30ec\u30b9\u30d0\u30fc\u306b about:flags \u3068\u5165\u529b\u3057\u3001\u8868\u793a\u3055\u308c\u308b\u9805\u76ee\u306e\u4e2d\u3067\u3001
    \u3000\u300c\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2 \u30ec\u30f3\u30c0\u30ea\u30f3\u30b0 \u30ea\u30b9\u30c8\u3092\u30aa\u30fc\u30d0\u30fc\u30e9\u30a4\u30c9\u300d
    \u3000\u3092\u6709\u52b9\u306b\u3059\u308b
    \u30fb\u30a2\u30c9\u30ec\u30b9\u30d0\u30fc\u306b about:flags \u3068\u5165\u529b\u3057\u3001\u8868\u793a\u3055\u308c\u308b\u9805\u76ee\u306e\u4e2d\u3067\u3001
    \u3000\u300cWebGL \u30c9\u30e9\u30d5\u30c8\u62e1\u5f35\u6a5f\u80fd\u300d
    \u3000\u300cWebGL 2.0 \u30d7\u30ed\u30c8\u30bf\u30a4\u30d7\u300d
    \u3000\u306e\u4e8c\u3064\u3092\u6709\u52b9\u306b\u3059\u308b<\/p>\n\n\n\n
    \u4e0a\u8a18\u3092\u8a66\u3057\u3066\u3082Chrome\u3067\u52d5\u4f5c\u3057\u306a\u3044\u5834\u5408\u306f\u3001Internet Explorer 11\u3067\u3054\u4f7f\u7528\u4e0b\u3055\u3044\u3002<\/p>\n\n\n\n
    12\u3001Python\u30b9\u30af\u30ea\u30d7\u30c8\u3067\u5b9f\u6a5f\u3092\u52d5\u304b\u3059<\/h4>\n\n\n\n
    \u3000\u672c\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3067\u4f5c\u6210\u3057\u305fPython\u30b9\u30af\u30ea\u30d7\u30c8\u3067\u5b9f\u6a5f\u3067\u52d5\u304b\u3059\u70ba\u306b\u306f\u3001\u6e96\u5099\u3068\u3057\u3066\u3053\u3061\u3089<\/a>\u304b\u3089\u300cPaPeRo i \u5236\u5fa1\u7528WebSocket\u901a\u4fe1\u30a2\u30c9\u30aa\u30f3\u30b7\u30ca\u30ea\u30aa\u300d\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001PaPeRo i \u306e\u5b9f\u6a5f\u306b\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002
    \u3000(\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u65b9\u6cd5\u306b\u95a2\u3057\u307e\u3057\u3066\u306f\u3001    PaPeRo i\u3092Raspberry Pi\u4e0a\u306epython\u304b\u3089\u64cd\u4f5c\u3059\u308b<\/a>\u306e\u300cPaPeRo i\u306b\u30a2\u30c9\u30aa\u30f3\u30b7\u30ca\u30ea\u30aa\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u300d\u3092\u3054\u53c2\u7167\u4e0b\u3055\u3044)<\/p>\n\n\n\n
    \u3000\u6e96\u5099\u304c\u3067\u304d\u305f\u3089\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089Python\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u5b9f\u884c\u3059\u308b\u306e\u3067\u3059\u304c\u3001\u305d\u306e\u969b\u3001\u63a5\u7d9a\u5148\u3068\u3057\u3066PaPeRo i \u306e\u5b9f\u6a5f\u306eWebSocket\u30a2\u30c9\u30ec\u30b9\u3092\u4e0e\u3048\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002
    \u3000WebSocket\u30a2\u30c9\u30ec\u30b9\u306f\u300c-wssvr ws:\/\/\u5b9f\u6a5f\u306eIP\u30a2\u30c9\u30ec\u30b9:8088\/papero\u300d\u306e\u5f62\u3067\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u5f15\u6570\u306b\u3088\u308a\u6307\u5b9a\u3057\u307e\u3059\u3002
    \u3000\u4f8b\u3048\u3070\u3001\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u30d5\u30a1\u30a4\u30eb\u540d\u304ctmp.py\u3067\u3001\u5b9f\u6a5f\u306eIP\u30a2\u30c9\u30ec\u30b9\u304c192.168.1.187\u306e\u5834\u5408\u3001\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u300cpython tmp.py -wssvr ws:\/\/192.168.1.187:8088\/papero\u300d\u3068\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    <\/p>\n","protected":false},"excerpt":{"rendered":"
    \u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb \uff11\u3001PaPeRo i \u53ca\u3073PaPeRo i \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306b\u3064\u3044\u3066 PaPeRo(Partner-Type Personal Robot)\u3068\u306f\u3001NEC\u306b\u3088\u308a\u958b\u767a\u3055\u308c\u305f\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u30ed\u30dc\u30c3\u30c8\u3067\u3059\u30022005 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-1517","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=\/wp\/v2\/pages\/1517","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1517"}],"version-history":[{"count":5,"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=\/wp\/v2\/pages\/1517\/revisions"}],"predecessor-version":[{"id":1661,"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=\/wp\/v2\/pages\/1517\/revisions\/1661"}],"wp:attachment":[{"href":"http:\/\/www.sophia-i.co.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1517"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}