Pepper Controller

This is a software for controlling the humanoid robot Pepper. You can easily connect to the robot and control it either from the command line or you can implement the robot control into your existing python scripts. This software serves as an alternative to the official Choregraphe tool, which offers only graphical programming instead of full Python support. You can also control the robot, launch apps installed on the robot or teleoperate the robot from the GUI interface. The example scripts will help you to learn how to write your own Pepper app in a few lines of Python code, without the necessity to use Softbank software.

System requirements

Ubuntu up to 20.04

Python 2.7 (or Python 3.5.6 with limited functionality)

Pepper humanoid robot with NAOqi 2.5 (will not work with NAOqi 2.9 or newer)

Installation

Install dependencies for the GUI:

sudo apt-get install python-tk opencv-python

Clone this repository to your computer:

git clone https://github.com/incognite-lab/Pepper-Controller.git

cd Pepper-Controller

Python 2.7

If you want to use all functions from robot.py, you need the Python 2.7 version. Here is the installation procedure.

Download the Pepper SDK 2.5.10 library for Python 2.7 from: https://www.softbankrobotics.com/emea/en/support/pepper-naoqi-2-9/downloads-softwares
Add path to the downloaded pynaoqi SDK to your .bashrc:

export PYTHONPATH=${PYTHONPATH}:~/pynaoqi/lib/python2.7/site-packages

Test the library:

python2

import qi

Install dependencies

pip2 install -r ./requirements.txt

Python 3.5.6

Alternatively, you can install the conda env for Python 3.5.6, which uses a half-remade qi library. However, some functionalities like touch detection etc. will not work. You can install it as follows:

conda env create -f python3env.yml
conda activate pepperenv

GUI Interface

The easist way to control Pepper robot is via the GUI interface:

python2 peppergui.py

The window will appear:

Firstly, you need to enter the correct IP address (press the robot's chest button to obtain it) to the upper left box and press "Connect"

After a successful connection, you can control the robot by pressing the buttons.

If you want Pepper to say any phrase, enter it in the text edit field and then press the "Say text" button.

The GUI provides support for running Choregraphe projects that are already installed on the robot. We currently do not provide any installable Choregraphe projects, but you can configure the GUI buttons for your own applications. To do that, please edit conf.yaml. For each application, you need to provide a name for the button and a path to your Choregraphe app in the form of applicationID/behavior_1. If you are not sure how to get these, please refer to Choregraphe documentation (it is label C on the second image).

Other properties of the GUI can be edited through the conf.yaml file.

GUI customization

If you want to customize GUI, there is a tool to easily edit the layout without programming skills. The GUI layout is based on Pygubu Designer (https://github.com/alejandroautalan/pygubu-designer)

Install Pygubu Designer:

pip2 install pygubu-designer

Run Pygubu Designer:

pygubu-designer

Open .ui file

File > Open > Pick "pepper_controller.ui"

You can modify the basic structure of the layout, add new fuctions or assign commands or applications to the specific buttons. The ui file contains whole structure of the the GUI.

Command line examples

If you want to control the robot from command line, just run Python 2 and type:

import naoqi

from pepper.robot import Pepper

robot = Pepper(PeppperIP,9559)

Now you can control Pepper from the command line. Pepper can say something:

robot.say("Hello, I am Pepper robot.")

If you want Pepper to show a website on tablet, type:

robot.show_web("https://www.google.com/")

You can also easily switch Autonomous life on or off:

robot.autonomous_life_off()

robot.autonomous_life_on()

Example of Pepper semantic segmentation based on Yolact under Python 3

Sample script in preparation

Writing custom application

As you can see from previous examples, it is pretty straigforward to write an application in Python without Choregraphe.

We prepared two examples that you can use as templates for the developmnent of your own application.

First one presents basic robot capabilities:

python hellopepper.py

Feel free to edit the script file according to your needs.

The second example shows a more complex application:

python demo.py

You can also use this script as a starting point to write your application.

Pepper class

The core module of uour software is a Pepper class. There are basic functions to operate robot from the Python environement. You can easily write your own software for the robot based on these functions.

List of methods

Here is a list all methods in Pepper class.

Language	Vision	Motorics	System
getVoiceShape	streamCamera	stand	show_image
getVoiceVolume	get_face_properties	rest	autonomous_life
set_volume	turn_off_leds	turn_around	autonomous_blinking
getVoiceSpeed	blink_eyes	detect_touch	show_web
greet	take_picture	set_security_distance	point_at
test_say	show_map	stop_behaviour	tablet_show_settings
play_sound	load_map	start_animation	restart_robot
stop_sound	subscribe_camera	start_behavior	shutdown_robot
listen_to	unsubscribe_camera	hand	autonomous_life_off
listen	get_camera_frame	track_object	autonomous_life_on
ask_wikipedia	get_depth_frame	exploration_mode	battery_status
speech_to_text	show_tablet_camera	robot_localization	list_behavior
chatbot	learn_face	stop_localization	get_robot_name
pick_a_volunteer	recognize_person	navigate_to	unsubscribe_effector
recordSound		move_forward	share_localhost
changeVoice		move_to_circle	rename_robot
		move_joint_by_angle	upload_file
		move_head_down	download_file
		move_head_up	set_awareness
		move_head_default
		do_hand_shake

Authors

Incognite lab - CIIRC CTU

Daniel Kubista

Petr Schimperk

Licensing

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

Acknowledgement

The software development was supported by the Technological Agency of the Czech Republic grant No. TL02000362 HUMR - The Use of Humanoid Robot in Promoting Active Ageing in Older Men and Women.

permission denied to connect to robot IP through peppergui

I opened the peppergui but could not connect to the robots IP address. I suspect it's the network security not letting me in, but I'm not sure. I made sure my laptop and the pepper robot are on the same network too. I am using Ubuntu 20.04. Here is the terminal output which contains the error:

/home/philip/.local/lib/python2.7/site-packages/paramiko/transport.py:33: CryptographyDeprecationWarning: Python 2 is no longer supported by the Python core team. Support for it is now deprecated in cryptography, and will be removed in the next release.
  from cryptography.hazmat.backends import default_backend
No handlers could be found for logger "playsound"
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1550, in __call__
    return self.func(*args)
  File "peppergui.py", line 178, in on_connect_clicked
    self.robot = Pepper(self.ip_address, self.port)
  File "/home/philip/pepper_robot/Pepper-Controller/pepper/robot.py", line 66, in __init__
    self.app = qi.Application(["ReactToTouch","HumanGreeter", "--qi-url=" + connection_url])
  File "/usr/local/lib/python2.7/dist-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/qi/__init__.py", line 150, in Application
    _app = _ApplicationSession(args, autoExit, url);
RuntimeError: boost::filesystem::status: Permission denied: "/root/.local/bin/ReactToTouch"
Exception in Tkinter callback
Traceback (most recent call last):
  File "/usr/lib/python2.7/lib-tk/Tkinter.py", line 1550, in __call__
    return self.func(*args)
  File "peppergui.py", line 178, in on_connect_clicked
    self.robot = Pepper(self.ip_address, self.port)
  File "/home/philip/pepper_robot/Pepper-Controller/pepper/robot.py", line 66, in __init__
    self.app = qi.Application(["ReactToTouch","HumanGreeter", "--qi-url=" + connection_url])
  File "/usr/local/lib/python2.7/dist-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/qi/__init__.py", line 150, in Application
    _app = _ApplicationSession(args, autoExit, url);
RuntimeError: boost::filesystem::status: Permission denied: "/root/.local/bin/ReactToTouch"

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