Pepper やNaoで使用されているNaoqi OSのメモです。

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NAOqi Core - 概要 | API | チュートリアル

First steps with ALKnowledge


Create a new python box or just open your favorite python IDE.
alknowledge_session.py
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use ALKnowledge Module"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses ALKnowledge module.
    """
    # Get the service ALKnowledge.

    knowledge_service = session.service("ALKnowledge")

    #Add triplets to the ontology
    knowledge_service.add("tutorial", "sky", "hasColor", "blue")
    knowledge_service.add("tutorial", "smurf", "hasColor", "blue")
    knowledge_service.add("tutorial", "smurf", "hasColor", "white")

    #Get subjects
    result = knowledge_service.getSubject("tutorial", "hasColor", "blue")
    print result #Should print ['sky', 'smurf']

    #Get predicates
    result = knowledge_service.getPredicate("tutorial", "sky", "blue")
    print result #Should print ['hasColor']

    #Get objects
    result = knowledge_service.getObject("tutorial", "smurf", "hasColor")
    print result #Should print ['blue', 'white']

    #Update
    result = knowledge_service.update("tutorial", "smurf", "hasColor", "red")
    result = knowledge_service.getObject("tutorial", "smurf", "hasColor")
    print result #Should print ['red']

    #Contains
    result = knowledge_service.contains("tutorial", "smurf", "hasColor", "red")
    print result #Should print True

    #Remove
    result = knowledge_service.remove("tutorial", "smurf", "hasColor", "red")
    result = knowledge_service.contains("tutorial", "smurf", "hasColor","red")
    print result #Should print False

    #Query
    result = knowledge_service.query("tutorial", "sky", "hasColor", "?")
    print result #Should print ['blue']

    #Reset knoledge
    result = knowledge_service.resetKnowledge("tutorial")


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()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    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)
    main(session)

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