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 (or WSL)

Start off by installing Pyenv and walk through the steps outlined there (be sure to also add it to PATH). Also install the Python build requirements. Afterwards, install Python 2.7 and activate it for your current shell:

pyenv install 2.7
pyenv shell 2.7

You can check that this worked by typing

python -V

Which should return Python 2.7.18.

Next, cd into this repository and create (and activate) a virtual environment:

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:

sudo apt install -y portaudio19-dev

On WSL, also install:

sudo apt install -y libasound2-plugins

Install the required packages with

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:

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:

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:

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

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.

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:

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

On Linux and macOS:

PYTHONPATH=src python -m robot_interface.main

On Windows:

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

With both, 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.

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.

GitHooks

To activate automatic commits/branch name checks run:

git config --local core.hooksPath .githooks

If your commit fails its either: branch name != /description-of-branch , commit name != : description of the commit. : N25B-Num's

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