I am fairly new to coding and new to working with Pepper (2.9.5) and have been struggling to figure out how to make a program for a Pepper robot where Pepper will execute some speech and an animation when it detects the presence of a person and to do this whenever it detects a new person.

At the moment I only know how to make the speech and animation trigger when the app is launched.

I am on a different pc at the moment and don’t have the exact code but essentially what I have at the moment is:

` @Override
    public void onRobotFocusGained(QiContext qiContext) {
        // The robot focus is gained.
        Say say = SayBuilder.with(qiContext)
                .withText("Say a thing")
                .build();

        Animation Do_a_thing = AnimationBuilder.with(qiContext);
                .withResources(R.raw.animation)
                .build();

                Animate Doing_a_thing = AnimateBuilder.with(qiContext);
                    .withanimation(Do_a_thing);
                    .build();

        say.run();
        Doing_a_thing.run();
    }`

I basically want it to run this when a person is detected and otherwise look around, or if it’s easier, to trigger this sequence after set time periods. What I would like to achieve is:

1. App is launched and Pepper waits to detect someone.
2. Person detected.
3. Sequence triggered.
4. Person leaves.
5. Pepper returns to waiting for someone to approach.

I’m guessing I can somehow call the running of the sequence within something that detects the presence of people but having read some of the QiSDK guidance/tutorials available I don’t really understand how this is done.

Any help would be appreaciated on this matter.

Thanks