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Add Subway demo #1397

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42f28d1
Set line_buffer_length
YutoUchimi Nov 11, 2019
abd96a7
Do not reset head pose in each look-button loop
YutoUchimi Nov 11, 2019
a050f8c
Loosen tolerance before turning left in elevator
YutoUchimi Nov 11, 2019
cff7e69
Draw rectangle not with matplotlib but with cv2 in match_template.py
YutoUchimi Nov 12, 2019
e588cb1
Do not show probability in debug image of match_template.py
YutoUchimi Nov 12, 2019
4d83f4e
Move speak code to move-inside-elevator.l for check-elevator-open func
YutoUchimi Nov 12, 2019
9334140
Look ahead as much as possible when moving base
YutoUchimi Nov 12, 2019
5f156ae
Change push depth: 30mm -> 20mm
YutoUchimi Nov 12, 2019
9e2f46c
Reset *change-pc* at the beginning of each calling check-elevator-open
YutoUchimi Nov 12, 2019
a445ae4
Look front before checking if elevator open
YutoUchimi Nov 12, 2019
eebb0ba
Reduce unnecessary multiple angle-vector and subscribing
YutoUchimi Nov 13, 2019
21689d1
Wait for interpolation of look-forward-in-nav.l
YutoUchimi Nov 13, 2019
02fbad7
Wait at most 6 min when receiving sandwich at subway
YutoUchimi Nov 13, 2019
fe5616f
Subscribe more to get stable point cloud
YutoUchimi Nov 13, 2019
f4b2627
Show quarter and throttled point cloud in rviz
YutoUchimi Nov 13, 2019
82a8c15
Fix typo: row-info -> ros-info
YutoUchimi Nov 14, 2019
e61bbe8
Set after-stamp to (ros::time-now) while checking if forum door is open
YutoUchimi Nov 14, 2019
edb459e
Push forum door button only 10mm
YutoUchimi Nov 14, 2019
1135829
Fix resetting pose before pushing forum door button
YutoUchimi Nov 14, 2019
1476c1b
Update text visualization
YutoUchimi Nov 14, 2019
a9db131
Fix state name
YutoUchimi Nov 14, 2019
cb5f326
Fix unbound variable timeout while checking if forum door open
YutoUchimi Nov 14, 2019
bf753d2
Fix too fast angle-vector
YutoUchimi Nov 15, 2019
3f56b2e
Send angle-vector of looking at button only when PR2 is not looking a…
YutoUchimi Nov 18, 2019
04f6feb
Set after-stamp to 0.5sec later from request
YutoUchimi Nov 18, 2019
f7e625b
Remove duplicated ros-info at elevator-smach-initial
YutoUchimi Nov 18, 2019
d87516c
Re-push elevator inside button when check-elevator-open failed
YutoUchimi Nov 18, 2019
ff3c85c
Refactor euslisp files
YutoUchimi Nov 19, 2019
8a246a9
fix tests
knorth55 Oct 5, 2022
55bf029
Fix roseus-add-srvs for nav_msgs
YutoUchimi Nov 19, 2019
4ed341c
Fix for parsing :timeout in check-elevator-open
YutoUchimi Nov 19, 2019
4159a01
Speed up check-elevator-open
YutoUchimi Nov 19, 2019
fef3beb
Move only head first, then move arms when looking at panel
YutoUchimi Nov 21, 2019
6e15d95
Speed up check-elevator-open
YutoUchimi Nov 21, 2019
64c1fe0
Add Passthrough filter to fcn output in order to subscribe only when …
YutoUchimi Nov 22, 2019
4abdd79
Move Passthrough to before FCN
YutoUchimi Nov 22, 2019
bd133b8
Fix typo in push-forum-door-button func
YutoUchimi Nov 22, 2019
b6eb55f
Speed up check-elevator-open more
YutoUchimi Nov 22, 2019
59b0c59
Fix for euslint
YutoUchimi Nov 23, 2019
e2676e9
Set push offset to 20mm
YutoUchimi Nov 23, 2019
1915bd9
Remove unnecessary :angle-vector in push-elevator-button.l
YutoUchimi Nov 23, 2019
9edf567
Remove unused add-msg-pgsql.l
YutoUchimi Nov 23, 2019
8c677ac
Fix scope for logging with mongo-logger
YutoUchimi Nov 23, 2019
1b7bbd5
Remove unused visualization with *node-debug*
YutoUchimi Nov 23, 2019
0ef5cd0
Clean up loading elevator-buttons.l
YutoUchimi Nov 23, 2019
b28b1a6
Move args to the same line as function name
YutoUchimi Nov 24, 2019
9362272
Rename: elevator-buttons.l -> utils.l
YutoUchimi Nov 24, 2019
a2050e7
Remove unused eng2-through-door-nav.l
YutoUchimi Nov 24, 2019
81237c7
Move call-service function to utils.l
YutoUchimi Nov 24, 2019
9f4da20
Modify loading roseus_smach
YutoUchimi Nov 24, 2019
982dd2b
Add make-scene-by-tf func in utils.l
YutoUchimi Nov 24, 2019
a268d43
Do not use global variable in posedetectiondb-client.l
YutoUchimi Nov 24, 2019
b3e8aa5
Move tolerance functions to utils.l
YutoUchimi Nov 24, 2019
4f51629
Move check-elevator-open func to check-elevator-open.l
YutoUchimi Nov 24, 2019
75ea39b
Remove logf function since it can be achieved by ROSCONSOLE_FORMAT env
YutoUchimi Nov 24, 2019
56fe1c6
Parse tfl and scene from upper level function
YutoUchimi Nov 24, 2019
3c1fa0a
Disable mongo logging
YutoUchimi Nov 24, 2019
5a0586c
Move update-robot-position func to utils.l
YutoUchimi Nov 24, 2019
cc2a607
Move functions for pushing elevator button to push-elevator-button.l
YutoUchimi Nov 24, 2019
5e3f5b9
Move coords->movebaseactiongoal to utils.l
YutoUchimi Nov 24, 2019
a17f44b
Rename state machine
YutoUchimi Nov 24, 2019
c03cbf9
Rename: elevator-move-base-main.l -> state-machine-main.l
YutoUchimi Nov 24, 2019
f0fd4be
Fix not to use defvar for global variable
YutoUchimi Nov 24, 2019
0ad45e2
Fix loading file for test-modules-insidepanel
YutoUchimi Nov 25, 2019
1919360
Fix returning from look-button-state/check-button-state func
YutoUchimi Nov 26, 2019
e2ad780
Do not launch 2 ros-callback-object for 1 subscriber
YutoUchimi Nov 26, 2019
29ed66a
Use function of utils.l in fetch-sandwich.l
YutoUchimi Nov 27, 2019
3418b2c
Avoid getting stuckon braille block on 2F
YutoUchimi Nov 27, 2019
ac1d7aa
Send via-av after target-av as well when pushing forum door button
YutoUchimi Nov 27, 2019
dcb4b81
Enable checking if elevator is moving during check-target-floor-arrived
YutoUchimi Nov 27, 2019
52c16b0
Correct checking timeout in check-button-light-state
YutoUchimi Nov 27, 2019
ffb04c1
Implement after-stamp for subscriber of octree_change_publisher topic
YutoUchimi Nov 27, 2019
6608fd9
Update parameter for point_pose_extractor
YutoUchimi Nov 28, 2019
a3d1627
Use nodelet for lightweight_throttle
YutoUchimi Nov 28, 2019
4b398ad
Fix typo: ros:time+ -> ros::time+
YutoUchimi Nov 28, 2019
ca8ab54
Fix posedetection callback for multiple detection by point_pose_extra…
YutoUchimi Nov 28, 2019
31ae465
Use Passthrough for heavy detection (point_pose_extractor)
YutoUchimi Nov 28, 2019
03d2c99
Increase timeout of check-target-floor-arrived a bit
YutoUchimi Nov 29, 2019
3d57389
Add sanity-check.l
YutoUchimi Nov 29, 2019
c12e342
Start with sanity-check
YutoUchimi Nov 29, 2019
6c6cd09
Fix missing parentheses
YutoUchimi Nov 29, 2019
55d5ad3
Fix timeout calculation: not sec but msec
YutoUchimi Nov 29, 2019
660d01a
Update rviz config
YutoUchimi Nov 29, 2019
41ed6bc
Fix TF tree for elevator panels: parent is msg.header.frame_id
YutoUchimi Nov 29, 2019
02bdf1e
Update rviz config to use group
YutoUchimi Nov 29, 2019
05511ad
Use PassThrough for template matching as well to reduce CPU load
YutoUchimi Nov 29, 2019
66c905b
Fix remapping since virtual_camera_mono uses image_transport::subscri…
YutoUchimi Nov 29, 2019
42907a6
Fix argument of sanity-check
YutoUchimi Nov 29, 2019
16100c8
Reset pose anyway even when arm is selected
YutoUchimi Nov 29, 2019
51433e3
Revert "Fix TF tree for elevator panels: parent is msg.header.frame_id"
YutoUchimi Nov 29, 2019
36c1147
Pass through /wide_stereo/left/image_rect_color as well
YutoUchimi Nov 29, 2019
c8baafb
Fix Passthrough filter so that virtual_camera_mono correctly gets TF …
YutoUchimi Nov 30, 2019
500ffca
Fix test-panel-pose-detection for Passthrough
YutoUchimi Nov 30, 2019
69b93c8
Fix test-modules-insidepanel
YutoUchimi Nov 30, 2019
09b9362
Set default change threshold of octree_change_publisher to 500
YutoUchimi Dec 2, 2019
a6a91c9
Add launch files for collecting data from cameras
YutoUchimi Dec 2, 2019
8af597e
Remove redundant dependency: image_view from test_depend
YutoUchimi Dec 2, 2019
bffdecb
Fix string comparison of panel-name
YutoUchimi Dec 2, 2019
c7c06ff
Remove non relevant launch
YutoUchimi Dec 2, 2019
9326af7
Refactor arm selecting process
YutoUchimi Dec 2, 2019
fe9d5f0
Confirm panel-moved by 3 times, but remove wait-interpolation from mo…
YutoUchimi Dec 2, 2019
4d1e6d3
Remove unused arg-keys ':cancel'
YutoUchimi Dec 2, 2019
d74ca54
Print matched template result as loginfo
YutoUchimi Dec 2, 2019
a500f5b
Request Passthrough a bit faster for virtual_camera_mono
YutoUchimi Dec 2, 2019
ed14b1c
Loosen error_threshold for inside panel since TF is rarely broadcasted
YutoUchimi Dec 2, 2019
d6145e5
Update elevator_inside_panel position
YutoUchimi Dec 2, 2019
6bd78cc
Wait 500 msec before starting subscribing result of octree_change_pub…
YutoUchimi Dec 2, 2019
f0638b9
Move to 20cm in front of subway register first not to hit PR2's arm t…
YutoUchimi Dec 2, 2019
a55eb7a
Update mid-point to forum-door-inside to avoid braille block
YutoUchimi Dec 2, 2019
38b4a9a
Force to move to in front of forum-door/subway-register by using :go-pos
YutoUchimi Dec 2, 2019
93e5725
Force to look at elevator_call_panel even after look-forward-in-nav.l…
YutoUchimi Dec 3, 2019
4f200a8
Re-look at elevator_inside_panel during ready-to-outside
YutoUchimi Dec 3, 2019
9fac8f4
Skip 0.5 sec even when octree change result is subscribed instead of …
YutoUchimi Dec 3, 2019
204bf10
Add comment on handling sandwich in hand
YutoUchimi Dec 3, 2019
16353e7
Add look-at-human.l
YutoUchimi Dec 3, 2019
88dc6ea
Fix 'array index out of range' error
YutoUchimi Dec 3, 2019
4b86430
Start/stop look-at-human from service call
YutoUchimi Dec 3, 2019
5c77cd6
Look for clerk when ordering sandwich at subway
YutoUchimi Dec 3, 2019
1ee1610
Use go-pos-unsafe for approaching register
YutoUchimi Dec 3, 2019
16a2050
Use go-pos-unsafe for approaching forum-door-front without getting st…
YutoUchimi Dec 3, 2019
c4a41af
Minor update of parameters
YutoUchimi Dec 3, 2019
d3800de
Do not end with :fail in push-state-machine
YutoUchimi Dec 4, 2019
a52a3dd
Check if look-person-idx and look-limb-idx are both set before settin…
YutoUchimi Dec 5, 2019
9006b3c
Update human tracking parameters
YutoUchimi Dec 5, 2019
f617bf2
Try to find human when passing sandwich from PR2
YutoUchimi Dec 5, 2019
c20e78d
Return nil when IK failed in push-forum-door-button
YutoUchimi Dec 5, 2019
289d36b
Fix looking at human found before passing sandwich
YutoUchimi Dec 5, 2019
c145d13
Move state funcs to state/ dir
YutoUchimi Dec 6, 2019
c29e2c5
Move match_template.py to node_scripts/
YutoUchimi Dec 6, 2019
81cda93
Add coral TPU output and FCN output to sanity check
YutoUchimi Dec 6, 2019
04dc712
Publish debug images of 2 point_pose_extractor to the same topic for …
YutoUchimi Dec 6, 2019
3609367
Update rviz config
YutoUchimi Dec 6, 2019
3020e73
Check if pushed button is still lit during ready-to-outside
YutoUchimi Dec 6, 2019
b93943a
Fix sanity checking type of coral output
YutoUchimi Dec 6, 2019
4124ca8
Update inside panel each time during check-target-floor-arrived
YutoUchimi Dec 6, 2019
9c811b1
Remove unused local variable start-tm
YutoUchimi Dec 8, 2019
c48cd3b
Show info of find_elevator_button on rviz as well
YutoUchimi Dec 9, 2019
5accbe3
Remove unused arg-keys 'front-coords from push-state-machine
YutoUchimi Dec 9, 2019
e29dec4
Fix missing reference to 'button in check-target-floor-arrived
YutoUchimi Dec 9, 2019
7179079
Update ros-info in posedetectiondb-client
YutoUchimi Dec 9, 2019
23233b2
Test only if result of match_template is published in test-number-rec…
YutoUchimi Dec 9, 2019
15c10c7
Wait for service server (0.1sec) after ros::roseus for stable test-pa…
YutoUchimi Dec 9, 2019
0868b7d
Remove unused and redundant button_state_marker.l
YutoUchimi Dec 9, 2019
fc4d458
Explicitly declare global variables
YutoUchimi Dec 9, 2019
91dc3a6
Update mid-coords position to forum-door-inside
YutoUchimi Dec 9, 2019
02ea6a1
Look a bit right before finding human at subway
YutoUchimi Dec 9, 2019
bc1716c
Fix initialization of look-at-human
YutoUchimi Dec 9, 2019
651a4cd
Update parameters for speed up
YutoUchimi Dec 9, 2019
b8d6d44
Update rviz config
YutoUchimi Dec 9, 2019
5b1d7ed
Use filter-type: least-median
YutoUchimi Dec 9, 2019
d0c2e8a
Wait until panel is found 3 times
YutoUchimi Dec 9, 2019
e95d4e1
Check if elevator is needed before sanity check for faster execution …
YutoUchimi Dec 10, 2019
96d443c
Decrease push offsets
YutoUchimi Dec 10, 2019
8b1a897
Push with larm in default
YutoUchimi Dec 10, 2019
771d32e
Define push-arm as userdata of state machine
YutoUchimi Dec 10, 2019
c9ee0f9
Wait only 0.1 sec for publisher to be ready in change-floor
YutoUchimi Dec 10, 2019
0094e77
Earlier timeout of check-target-floor-arrived
YutoUchimi Dec 11, 2019
d4a78ce
Explicitly skip moving arm and torso during look-state when inside el…
YutoUchimi Dec 11, 2019
04975f1
Log result of sanity-check
YutoUchimi Dec 11, 2019
76fb040
Decrease offset from button: 60mm -> 50mm
YutoUchimi Dec 13, 2019
7cdb2d3
Send angle-vectors together when pushing button
YutoUchimi Dec 13, 2019
37c3717
Fix to work sanity-check standalone
YutoUchimi Dec 13, 2019
48d6b26
Decrease timeout of look-button
YutoUchimi Dec 15, 2019
d26e051
Send angle-vector softly
YutoUchimi Dec 15, 2019
5d7f207
Make sure to look at button
YutoUchimi Dec 15, 2019
4fd07e7
Use until instead of while not
YutoUchimi Dec 15, 2019
78908d2
Pass through SIFT features just before update func
YutoUchimi Dec 16, 2019
38ee417
See 10 degrees more right at the beginning of find-clerk
YutoUchimi Dec 16, 2019
95ee30d
Store and restore parameters
YutoUchimi Dec 17, 2019
d6d5507
Add find_human_in_mirror node and corresponding state
YutoUchimi Dec 10, 2019
a7016f9
Add sanity check for find_human_in_mirror
YutoUchimi Dec 10, 2019
e979f50
Fix typo
YutoUchimi Dec 10, 2019
f4e6124
Update rviz config
YutoUchimi Dec 10, 2019
00981ba
Add debug info for find_human_in_mirror
YutoUchimi Dec 10, 2019
b5eb562
Fix typo of parentheses in speak-to-human-behind
YutoUchimi Dec 10, 2019
24ef36c
Launch all nodes except 2 FCN on c2 machine
YutoUchimi Dec 11, 2019
cb49ce6
Fix param name
YutoUchimi Dec 12, 2019
a8c01cf
Show log for find_human_in_mirror in rviz as well
YutoUchimi Dec 12, 2019
bf00bb5
Speak another sentence when human outside mirror found
YutoUchimi Dec 12, 2019
deb6292
Decrease queue_size for label_image_decomposer of door_button fcn
YutoUchimi Dec 12, 2019
5b86753
Fix topic names for inside/outside mirror
YutoUchimi Dec 12, 2019
2895b8d
Refactor sanity-check
YutoUchimi Dec 13, 2019
5eea398
Use fcn_depth_prediction.py in jsk_perception
YutoUchimi Dec 16, 2019
a522fec
Subscribe result of mirror recognition twice in speak-to-human-behind.l
YutoUchimi Dec 16, 2019
93c8016
Avoid fastest angle-vector
YutoUchimi Dec 16, 2019
4b3be63
Set shorter timeout during speak-to-human
YutoUchimi Dec 16, 2019
24dac39
Light weight throttle for coral output image
YutoUchimi Dec 16, 2019
407fce0
Update rviz config
YutoUchimi Dec 16, 2019
573957a
Speak even when timeout reached
YutoUchimi Dec 17, 2019
77f6344
Allow approximate_sync in find_human_in_mirror because input topics a…
YutoUchimi Dec 17, 2019
31b2335
Wait more before moving into elevator
YutoUchimi Dec 17, 2019
bdf735e
Initialize torso height before starting subway demo
YutoUchimi Dec 17, 2019
14e3036
Wait 1.2sec before finding human
YutoUchimi Dec 17, 2019
12ef583
Use no_sync in find_human_in_mirror.py
YutoUchimi Dec 17, 2019
78210a9
Reduce wait time
YutoUchimi Dec 18, 2019
6e6f99e
Reduce timeout of some state
YutoUchimi Dec 19, 2019
d4a4f8c
Clear costmap before moving into elevator
YutoUchimi Dec 19, 2019
f90e439
Subscribe in/outside_mirror 3 times
YutoUchimi Dec 20, 2019
4086442
Use :move-to, not send goal directly to move_base
YutoUchimi Dec 20, 2019
77c5eb5
Stop look-forward-in-nav.l during take-elevator
YutoUchimi Dec 20, 2019
a3e0503
Fix return value in ready-to-outside
YutoUchimi Dec 20, 2019
12a6f91
Decrease timeout of speak-to-human-behind
YutoUchimi Dec 21, 2019
93f9086
Wait for door opening before moving outside
YutoUchimi Dec 21, 2019
b676506
Use move_base action in :go-to
YutoUchimi Dec 21, 2019
d0c589b
Wait for door opening
YutoUchimi Dec 21, 2019
d66ad30
Wait for transform between target-frame and scene
YutoUchimi Dec 21, 2019
1a6989f
Show info at the beginning of check-elevator-needed
YutoUchimi Dec 22, 2019
5dd7cbf
Use latest data since old data is a result of closed elevator
YutoUchimi Dec 22, 2019
333cd67
Wait for transform during check-current-floor
YutoUchimi Dec 23, 2019
ac74a90
Show debug info earlier
YutoUchimi Dec 23, 2019
59d90fe
Revert "Use move_base action in :go-to"
YutoUchimi Dec 23, 2019
e23cfea
Return to elevator_inside_panel-front when move-outside fails
YutoUchimi Dec 23, 2019
e0fb11b
Fix success-state
YutoUchimi Dec 23, 2019
75cb443
Update rviz config
YutoUchimi Dec 23, 2019
78d3a58
Decrease timeout of speak-to-human-behind
YutoUchimi Dec 23, 2019
311d98c
Fix return value in move-outside
YutoUchimi Dec 23, 2019
0fa0c56
Fix speaking word
YutoUchimi Dec 23, 2019
3b4d889
Wait for transform after 'now'
YutoUchimi Dec 23, 2019
0007ed0
Disable correction during move-elevator-front and move-inside
YutoUchimi Dec 24, 2019
53a2bee
Update sleep seconds before finding mirror
YutoUchimi Dec 24, 2019
c3a9610
Update elevator-front-coords
YutoUchimi Dec 24, 2019
cb7dc43
Update ordering sandwich
YutoUchimi Dec 24, 2019
a01859e
Update rviz config
YutoUchimi Dec 24, 2019
376ac58
Add speaking 'leave it to the clerk' at the end of ordering
YutoUchimi Dec 24, 2019
f9f7fd0
Refactor wait-for-hand-over
YutoUchimi Dec 24, 2019
b24c368
Decrease timeout of speak-to-human-behind
YutoUchimi Dec 26, 2019
3ed3df1
Update rviz config
YutoUchimi Dec 26, 2019
ea55049
Disable correction at the end of :go-to since this is a wrapper of mo…
YutoUchimi Dec 26, 2019
0dbc076
Disable look_at_human while taking elevator
YutoUchimi Dec 26, 2019
c96f2b6
Refactor find_human_in_mirror.py
YutoUchimi Dec 27, 2019
8e9ce84
Look at human until order is finished
YutoUchimi Dec 27, 2019
4846c18
Disable tilt_scan observation before moving elevator front
YutoUchimi Dec 27, 2019
5bcdccf
Update pick-bag-pose
YutoUchimi Dec 27, 2019
40d0ba9
Launch demo from app_manager
YutoUchimi Dec 28, 2019
7d2047d
Prepare for executing demo from dialogflow
YutoUchimi Dec 28, 2019
c650f57
Update ordering saidwich for applying reduced comsumption tax
YutoUchimi Dec 28, 2019
288b55a
Lookup price from sandwich name
YutoUchimi Dec 28, 2019
56e5a50
Fix for dialogflow
YutoUchimi Dec 30, 2019
3bab186
Add mid-point while coming back to initial pose since previous point …
YutoUchimi Jan 6, 2020
6580e1d
Avoid buying 'nil'
YutoUchimi Jan 6, 2020
eb25151
Add .rosinstall for elevator_move_base_pr2
YutoUchimi Jan 27, 2020
e51a8ed
move look-at-human.l to node_scripts
knorth55 Dec 9, 2020
7a1b293
add launch_find_elevator_button arg
knorth55 Oct 5, 2022
dc4af37
fix test-button-light test
knorth55 Oct 5, 2022
ed5670f
fix test-modules-callpanel test
knorth55 Oct 5, 2022
afa4445
enable all tests
knorth55 Oct 5, 2022
f2e6dd6
[subway] fix urllib import for python3
mqcmd196 Nov 28, 2023
9c780d1
[elevator_move_base_pr2] Use list() for python3 compatibility
tkmtnt7000 Dec 6, 2023
2338f3a
[subway2023] init pr2 with pr1040 for camera calibrating problem
mqcmd196 Dec 7, 2023
4c2d093
[elevator_move_base_pr2] initialize *pr2* as :pr1040 because of camer…
mqcmd196 Dec 10, 2023
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Avoid buying 'nil'
YutoUchimi authored and Yoshiki Obinata committed Nov 28, 2023
commit 6580e1df9b6a5f7307c52611e25a8229db155b34
3 changes: 3 additions & 0 deletions elevator_move_base_pr2/sample/fetch-sandwich.l
Original file line number Diff line number Diff line change
@@ -364,5 +364,8 @@
(dolist (s sandwiches)
(when (string= sandwich-en (elt s 0))
(setq sandwich-jp (elt s 1))))
(when (null sandwich-jp)
(speak-jp "すみません、聞き取れませんでした。")
(exit 1))
(demo :sandwich sandwich-jp)
(exit 0)))