StoryByNAO: Autonomous System Project Assignment

This module read a story out loud with a virtual NAO robot perform gesture along side. System: Python 2.7.18, tested in Window 10 x64, for NAO virtual robot in Choregraphe v2.1.4.

Required packages

pip install -r requirements.txt

Also note that make sure you using the pip of your Python 2.

We assume you have NAOqi stk working already, and that you are more or less farmilar with working with Choregragh from Python. Please make sure, when running this module, you call for your Python 2 instead of Python 3.

Older version of Python 2.7.x (so x < 18) may interfere when you try to install the required packages. It is highly recommended you use Python 2.7.18.

Guide to run the module

From cmd, first you will need to cd into the directory of the project.

Then you can run the story2NAOv2.py, which is the entry point to read a story with NAO perform gestures alongside. The command to read our group (18) story should be rather similar to this:

py -2 story2NAOv2.py --port 4747 --storyfile "storyg18.txt"

Arguments:
--ip : Robot ip address, default="127.0.0.1"
--port : Robot port number, default="9559"
--path2story : Path to the directory where all story files are stored from root, default="./stories/"
--storyfile : Name of the story file that is in the path2story that you want to read, default="example.txt"

You will need to change the --ip and --port to yours, which can be obtained from Choregraph -> Connection -> Connect to ...

The default story file "example.txt" is a version of Listing 1: Example annotated story, given in the Project Assignment.pdf by our instructor, Dr. Paul Vogt.

Instruction on how to contruct a story file

This module read the story marked with gestures. It commands a virtual NAO robot to perform these gestures in synchrony with an audio generated from the story text.

It does not take care of the actuals stroke of the gesture, their order of appearance, etc. These are instead pre-define in the story file in a markup language as below.

So altogether you should write your story with a markup language rather similar to:

<g-beat {body part} {do}> text </g-beat>

e.g <g-beat hand hello> Hi </g-beat>

This module supports the gestures and their meaning as below. It should gracefully deal with unknown gesture by using the default <g-beat head emphasis> instead. You can add new gestures following the instruction in the next section

do	body part	use to express
hello	hand	greeting, hi, ciao, etc.
afraid	hand	"oh no"-like expression, etc.
anyone	hand	all, everyone, come on, etc.
big	hand	very, extremely, especially, giant, gigantic, etc.
emphasis	hand	important, on time, etc.
grab	hand	reach out grabbing a thing and look at it, etc.
offer	hand	"let's shake hand"-like expression, etc.
please	hand	"I need help"-like expression, etc.
point-forward	hand	hand forward, open up, you, your, etc.
point-to-body	hand	me, my, myself, I, etc.
run	hand	mimick running, run, walk, hurry up, etc.
small	hand	things that mean the opposite to big, etc.
think	hand	think, thought, head, etc.
agree	head	two consecutive nods
emphasis	head	"I assure you"-like expression, etc.
look-around	head	"I'm confused", look around, making-eye-contact-like expression, etc.
nod	head	a single nod
point-front	head	look down and look up

Guide to create and add a new gesture

Should the existing gestures does not meet your need, you can add new gesture very easily as follows.

Make a Timeline that perform the gesture in Choregraphe, please consult Choregraphe documentation for this
Export motion in Python to clipboard. So right click on the Timeline -> Export motion to clipboard -> Python -> bezier/simplified (does not matter). We recommend bezier because it works better.
If this motion is mainly performed by NAO head, you should create a new .py file in gChoregraph/ghead and paste the result of 2. in there.
Do similarly if the motion is mainly performed by NAO hand, but the .py file is put in gChoregragh/ghand instead.
Name the .py file exactly like how you would use in a .txt story file.
For example, if you want to use the new gesture as such:

<g-iconic hand love> I love you <\iconic>

the .py file need to be named as love.py and is placed within the directory gChoregraph/ghand.

Now you should be able to use this gesture!

Note regarding the language of the story text

In theory, story in any languages that are inherently installed with your OS system can be played. Find out more by.

import pyttsx3
engine = pyttsx3.init()

voices = engine.getProperty('voices')
for voice in voices:
print "Voice:"
print " - ID: %s" % voice.id
print " - Name: %s" % voice.name
print " - Languages: %s" % voice.languages
print " - Gender: %s" % voice.gender
print " - Age: %s" % voice.age