PepperPlus-RI

The robot interface is a high-level API for controlling the robot. It implements the API as designed: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication.

This is an implementation for the Pepper robot, using the Pepper SDK and Python 2.7 as required by the SDK.

Installation

• Linux
• macOS
• Windows

Git Hooks

To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):

pre-commit install
pre-commit install --hook-type commit-msg

Usage

On Linux and macOS:

PYTHONPATH=src python -m robot_interface.main

On Windows:

$env:PYTHONPATH="src"; python -m robot_interface.main

Program Arguments

If you want to connect to the actual robot (or simulator), pass the --qi-url argument.

There's also a --microphone argument that can be used to choose a microphone to use. If not given, the program will try the default microphone. If you don't know the name of the microphone, pass the argument with any value, and it will list the names of available microphones.

Environment Variables

You may use environment variables to change settings. Make a copy of the .env.example file, name it .env and put it in the root directory. The file itself describes how to do the configuration.

Testing

To run the unit tests, on Linux and macOS:

PYTHONPATH=src pytest test/

On Windows:

$env:PYTHONPATH="src"; pytest test/

Coverage

For coverage, add --cov=robot_interface as an argument to pytest.

Documentation

Generate documentation web pages using:

Linux & macOS

PYTHONPATH=src sphinx-apidoc -F -o docs src/robot_interface

Windows

$env:PYTHONPATH="src"; sphinx-apidoc -F -o docs src/control_backend

Optionally, in the conf.py file in the new docs folder, change preferences.

In the docs folder:

Linux & macOS

make html

Windows

.\make.bat html