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Twirre
2025-12-11 10:58:56 +00:00
committed by Luijkx,S.O.H. (Storm)
parent c86eda497c
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# Docs # Docs
docs/* docs/*
!docs/conf.py !docs/conf.py
!docs/installation/
!docs/installation/**

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## Installation ## Installation
### Linux (or WSL) - [Linux](./docs/installation/linux.md)
- [macOS](./docs/installation/macos.md)
- [Windows](./docs/installation/windows.md)
Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
### Git Hooks
To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):
```bash ```bash
pyenv install 2.7 pre-commit install
pyenv shell 2.7 pre-commit install --hook-type commit-msg
``` ```
You can check that this worked by typing
```bash
python -V
```
Which should return `Python 2.7.18`.
Next, `cd` into this repository and create (and activate) a virtual environment:
```bash
cd <path to project>/
python -m pip install virtualenv
python -m virtualenv .venv
source .venv/bin/activate
```
We depend on PortAudio for the `pyaudio` package, so install it with:
```bash
sudo apt install -y portaudio19-dev
```
On WSL, also install:
```bash
sudo apt install -y libasound2-plugins
```
Install the required packages with
```bash
pip install -r requirements.txt
```
Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
```bash
wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
```
Next, move into the `site-packages` directory and extract the file you just downloaded:
```bash
cd .venv/lib/python2.7/site-packages/
tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
```
Lastly, we need to inform our virtual environment where to find our newly installed package:
```bash
echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
```
That's it! Verify that it works with
```bash
python -c "import qi; print(qi)"
```
You should now be able to run this project.
### macOS
Similar to Linux, but don't bother installing `pyenv` as it won't be able to install Python 2 on Apple Silicon. Instead, install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
Create the virtual environment as described above in the Linux section. Stop at the point where it shows you how to download the NaoQi SDK. Instead, use:
```shell
curl -OL https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-mac64.tar.gz
```
Then resume the steps from above.
## Usage ## Usage
@@ -134,23 +65,6 @@ For coverage, add `--cov=robot_interface` as an argument to `pytest`.
## Git Hooks
To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):
```bash
pre-commit install
pre-commit install --hook-type commit-msg
```
You might get an error along the lines of `Can't install pre-commit with core.hooksPath` set. To fix this, simply unset the hooksPath by running:
```bash
git config --local --unset core.hooksPath
```
Then run the pre-commit install commands again.
## Documentation ## Documentation
Generate documentation web pages using: Generate documentation web pages using:

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# Installation
Of the Pepper Robot Interface on Linux (or WSL).
Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
```bash
pyenv install 2.7
pyenv shell 2.7
```
You can check that this worked by typing
```bash
python -V
```
Which should return `Python 2.7.18`.
Next, `cd` into this repository and create (and activate) a virtual environment:
```bash
cd <path to project>/
python -m pip install virtualenv
python -m virtualenv .venv
source .venv/bin/activate
```
We depend on PortAudio for the `pyaudio` package, so install it with:
```bash
sudo apt install -y portaudio19-dev
```
On WSL, also install:
```bash
sudo apt install -y libasound2-plugins
```
Install the required packages with
```bash
pip install -r requirements.txt
```
Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
```bash
wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
```
Next, move into the `site-packages` directory and extract the file you just downloaded:
```bash
cd .venv/lib/python2.7/site-packages/
tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
```
Lastly, we need to inform our virtual environment where to find our newly installed package:
```bash
echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
```
That's it! Verify that it works with
```bash
python -c "import qi; print(qi)"
```
You should now be able to run this project.
See the README for how to run.

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# Installation
Of the Pepper Robot Interface on macOS.
## Python 2.7
Install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
Check that it worked by executing
```shell
python2 -V
```
Which should return Python 2.7.18.
## Virtual Environment
Next, cd into this repository and create (and activate) a virtual environment:
```shell
cd /path/to/project/
python2 -m pip install virtualenv
python2 -m virtualenv .venv
source .venv/bin/activate
```
We depend on PortAudio for the `pyaudio` package. If on Intel, run `brew install portaudio`. If on Apple Silicon, compile manually using the steps described in [the YouTrack article](https://utrechtuniversity.youtrack.cloud/articles/N25B-A-22/Install-PyAudio-for-Python-2-on-Apple-Silicon).
Then install the required Python packages with
```shell
pip install -r requirements.txt
```
## NaoQi SDK
We need to manually install the NaoQi SDK into our virtual environment. There are two options:
1. Install a newer version (2.8) which will make running easier, but compatibility is uncertain.
2. Install the version expected by the robot (2.5). This will complicate running slightly.
### Option 1
Download the SDK from [twirre.io](https://twirre.io/files/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231.tar.gz), or find one on the Aldebaran website, or an archived version on Web Archive.
Extract it to `/path/to/project/.venv/lib/python2.7/site-packages/`.
We need to inform our virtual environment where to find our newly installed package:
```bash
echo "/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231/lib/python2.7/site-packages/" > /path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
```
Now continue with [verifying](#verifying).
### Option 2
This method of installation requires setting the `DYLD_LIBRARY_PATH` environment variable before running. How will be explained.
Download the SDK from [twirre.io](https://twirre.io/files/pynaoqi-2.5.7.1-mac64-deps.tar.gz). This is a modified version of the one from Aldebaran, this one including required Choregraphe dependencies.
Extract it to `/path/to/project/.venv/lib/python2.7/site-packages/`.
We need to inform our virtual environment where to find our newly installed package:
```shell
echo "/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-mac64/lib/python2.7/site-packages/" > /path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7.pth
```
Now, anytime before running you need to set the `DYLD_LIBRARY_PATH` environment variable.
```shell
export DYLD_LIBRARY_PATH="/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-mac64/choregraphe_lib:${DYLD_LIBRARY_PATH}"
```
You may want to simplify environment activation with a script `activate.sh` like:
```shell
#!/bin/zsh
export DYLD_LIBRARY_PATH="/path/to/project/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.8.6.23-mac64-20191127_144231/choregraphe_lib:${DYLD_LIBRARY_PATH}"
source .venv/bin/activate
```
[Verify](#verifying) if it works.
## Verifying
Verify that the NaoQI SDK installation works with
```bash
python -c "import qi; print(qi)"
```
If so, you should now be able to run this project.
See the README for how to run.

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# Installation
Of the Pepper Robot Interface on Windows.
Install Python 2.7.18 from [the Python website](https://www.python.org/downloads/release/python-2718/), choose the x86-64 installer (at the bottom of the page).
To see if it worked:
```shell
py -2 -V
```
Which should return `Python 2.7.18`.
Next, `cd` into this repository and create (and activate) a virtual environment:
```bash
cd <path to project>/
py -2 -m pip install virtualenv
py -2 -m virtualenv .venv
.\.venv\Scripts\activate
```
Install the required packages with
```bash
pip install -r requirements.txt
```
Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Download the SDK from [Aldebaran](https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-win32-vs2013.zip), [Web Archive](https://web.archive.org/web/20240120111043/https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-win32-vs2013.zip) or [twirre.io](https://twirre.io/files/pynaoqi-python2.7-2.8.6.23-win64-vs2015-20191127_152649.zip).
Extract to `.\.venv\Lib\site-packages`.
Create a file `.venv\Lib\site-packages\pynaoqi-python2.7.pth`, put the full path of `pynaoqi-python2.7-2.8.6.23-win64-vs2015-20191127_152649\lib\python2.7\Lib\site-packages` in there.
Test if it worked by running:
```bash
python -c "import qi; print(qi)"
```
You should now be able to run this project.
See the README for how to run.