Changes between Initial Version and Version 1 of PepperWorkshop/PepperApi

Timestamp:

Feb 13, 2020, 2:18:41 PM (4 years ago)

Author:

hales

Comment:

--

PepperWorkshop/PepperApi

@@ +1 @@
+= [[https://is.muni.cz/auth/predmet/fi/pv277|PV277 Programming Applications for Social Robots]] (autumn 2019) =
+
+== Pepper API
+
+* http://doc.aldebaran.com/2-5/index_dev_guide.html
+
+=== programming in Choregraphe via Python
+  * enter only one box `Python Script`
+  * edit its contents via double click:
+    * to `__init__` add:
+      {{{#!python
+self.tts = ALProxy('ALTextToSpeech')
+self.tts.setLanguage('Czech')
+}}}
+    * to `onInput_onStart` add:
+      {{{#!python
+self.tts.say("Ahoj, jak se máš?")
+self.onStopped()
+}}}
+   * add `Czech` into Project Properties [[br]]
+     [[Image(pepper_project_cz.png)]]
+   * save the project and run in on a virtual robot
+ * for details see http://doc.aldebaran.com/2-5/software/choregraphe/objects/python_script.html and http://doc.aldebaran.com/2-5/software/choregraphe/reference.html
+
+=== speech input via Python
+  * in `__init__` add:
+    {{{#!python
+        try:
+            self.speech = ALProxy("ALSpeechRecognition")
+            self.speech.setLanguage('Czech')
+        except:
+            self.logger.info('Running on virtual robot')
+            self.speech = None
+}}}
+  * process speech accordingly
+    {{{#!python
+    def get_answer(self, reactions):
+        if self.speech is None:
+            return (random.choice(reactions.keys()))
+        else:
+            self.speech.setVocabulary(reactions.keys(), False)
+            self.speech.subscribe("Test_ASR")
+            self.logger.info('Speech recognition engine started')
+            time.sleep(20)
+            self.speech.unsubscribe("Test_ASR")
+
+    def onInput_onStart(self):
+        self.tts.say("Ahoj, jak se máš?")
+        reactions = {
+            'dobře':  'to je super!',
+            'špatně': 'doufám, že to brzo bude lepší',
+            'nevím': 'tak to určitě nebude tak zlé',
+        }
+        answer = self.get_answer(reactions)
+        react = reactions.get(answer)
+        self.logger.info('answer={}, react={}'.format(answer, react))
+        self.tts.say(react)
+        self.onStopped()
+}}}
+  * see [http://doc.aldebaran.com/2-5/naoqi/audio/alspeechrecognition.html ALSpeechRecognition] documentation
+
+=== dialog    
+* add boxes `Set Language` with `Czech` and add `Czech` to project properties
+* right click the free area -> `Create a new box` -> `Dialog...`
+* in the Dialog -> `Add Topic` - choose `Czech` and `Add to the package content as collaborative dialog` (allows to start the dialog just by talking to the robot)
+* connect `onStart` -> `Set Language` -> `Dialog`
+* in Project files double click on `dialog_czc.top` and enter
+  {{{
+topic: ~dialog()
+language: czc
+
+concept:(ahoj) "ahoj robote"
+concept:(dobrý_den) ["dobrý den" "krásný den" "krásný den přeju"]
+
+u:(~ahoj) ahoj člověče
+  \pau=1000\
+  to máme dnes hezký den
+
+u:(~dobrý_den) ~dobrý_den
+}}}
+* see [http://doc.aldebaran.com/2-5/naoqi/interaction/dialog/dialog.html QiChat - Introduction] and [http://doc.aldebaran.com/2-5/naoqi/interaction/dialog/dialog-syntax_full.html QiChat - Syntax] for details
+* beware that the "nice" function of recognizing any text via `_*` is unfortunately not available in the real robot - free speech recognition works only as a payed service over-the-network. The dialog must use predefined (possibly dynamic) concepts instead via `_~conceptName`.
+
+=== adding animations
+
+* single animation - via `Animation` box
+* connect to dialog:
+  * add rule to topic:
+    {{{
+u:(["můžeš zamávat" zamávej] {prosím}) ahojky $zamavej=1
+}}}
+  * add [http://doc.aldebaran.com/2-5/software/choregraphe/objects/box_input_output.html#choregraphe-reference-box-output output] to the dialog box (right click -> Edit box) named `zamavej` (Bang, punctual)
+  * add `Kisses` animation box, connect it to the `zamavej` output
+* within the dialog:
+    {{{
+u:(~ahoj) ^start(animations/Stand/Gestures/Hey_1) ahoj člověče
+  \pau=1000\
+  to máme dnes hezký den 
+  ^wait(animations/Stand/Gestures/Hey_1)
+}}}
+    shows only on real robot, see [http://doc.aldebaran.com/2-5/naoqi/motion/alanimationplayer-advanced.html#animationplayer-list-behaviors-pepper default list of animations]
+
+== Pepper API II
+
+=== installing application to the robot
+  * make a ssh key (replace `<xlogin>` with your login):
+    {{{
+ssh-keygen -m PEM -t ecdsa -N '' -f ~/.ssh/pepper_<xlogin>
+}}}
+  * copy your '''public''' key to the course directory:
+    {{{
+cp ~/.ssh/pepper_<xlogin>.pub /nlp/projekty/pepper/course/keys/
+}}}
+  * add host `karel` to your `$HOME/.ssh/config`:
+    {{{
+Host karel
+    User nao
+    HostName 192.168.88.10
+    # IdentityFile is important for install_pkg.py
+    IdentityFile ~/.ssh/pepper_<xlogin>
+    StrictHostKeyChecking no
+    PubkeyAuthentication yes
+}}}
+  * build the PKG package in Choregraphe
+  * test [https://nlp.fi.muni.cz/trac/pepper/wiki/LogView logview]
+    {{{
+ssh aurora
+/nlp/projekty/pepper/bin/logview
+}}}
+  * after the key is allowed, install it to the robot
+    {{{
+ssh aurora
+/nlp/projekty/pepper/bin/install_pkg.py your_package.pkg
+}}}
+=== running/launching the application
+
+  * if the application contains a ''behavior'' (`behavior.xar`), it needs to be ''launched''. Behaviors can have two natures: ''interactive'' (used as a dialog) or ''solitary'' (used without a direct listener). Any behavior can be launched using one of 3 ways:
+      1. specify the behavior's '''[http://doc.aldebaran.com/2-5/naoqi/interaction/triggerconditions.html trigger conditions]''' (works with both [http://doc.aldebaran.com/2-5/software/choregraphe/tutos/create_solitary_activity.html solitary] and [http://doc.aldebaran.com/2-5/software/choregraphe/tutos/create_interactive_activity.html interactive]) and/or its [http://doc.aldebaran.com/2-5/software/choregraphe/tutos/create_interactive_activity.html#step-2-transform-it-into-an-interactive-activity trigger sentences]
+      1. run it with `run_app.py`:
+    {{{
+/nlp/projekty/pepper/bin/run_app.py your_package[/path_to_behavior]
+}}}
+         call `run_app.py -l` to obtain a list of installed behaviors.
+      1. call ''[http://doc.aldebaran.com/2-5/naoqi/interaction/autonomouslife-api.html#ALAutonomousLifeProxy::switchFocus ALAutonomousLife.switchFocus]'' or !QiChat [http://doc.aldebaran.com/2-5/naoqi/interaction/dialog/dialog-syntax_full.html#switchfocus ^switchFocus]
+=== using tablet
+  * from a dialogue (see [http://doc.aldebaran.com/2-5/getting_started/creating_applications/using_peppers_tablet.html QiChat - pCall]):
+    {{{
+u:(jak se můžu dostat na fakultu bez přijímaček?)
+    Způsobů je celá řada. 
+    ^pCall(ALTabletService.showWebview("https://www.fi.muni.cz/admission/guide.html.cs"))
+    Všechno se dozvíš dnes na přednášce, od paní ze studijního
+    ^start(animations/Stand/Gestures/ShowTablet_3)
+    nebo na webu vvv fi muni cz v sekci pro uchazeče.
+    ^wait(animations/Stand/Gestures/ShowTablet_3)
+}}}
+  * [http://doc.aldebaran.com/2-5/getting_started/creating_applications/using_peppers_tablet.html Using Pepper’s Tablet]
+
+=== face characteristics
+
+* [http://doc.aldebaran.com/2-5/software/choregraphe/tutos/get_age.html Get Age]/Get Gender
+* [http://doc.aldebaran.com/2-5/software/choregraphe/tutos/get_expression.html Get Expression]
+
+=== creating application outside Choregraphe
+
+  * prepare your `pepper` directory unless you already have one
+    {{{
+mkdir $HOME/pepper
+}}}
+  * copy `template` directory
+    {{{
+cp -r /nlp/projekty/pepper/course/template $HOME/pepper/
+}}}
+  * rename the `template` to `template_<xlogin>` (replace `<xlogin>` with your login) or something else:
+    {{{
+mv $HOME/pepper/template $HOME/pepper/template_<xlogin>
+cd $HOME/pepper/template_<xlogin>
+}}}
+  * go through all files, rename the application where necessary
+  * build the PKG package (the version number will be increased):
+    {{{
+cd $HOME/pepper/template_<xlogin>
+make pkg
+}}}
+  * and install it
+    {{{
+cd $HOME/pepper/template_<xlogin>
+make install
+}}}
+    During the development this can be in one command
+    {{{
+make pkg install
+}}}
+
+=== creating own service
+
+  * copy and rename `template-service` directory
+    {{{
+cp -r /nlp/projekty/pepper/course/template-service $HOME/pepper/
+mv $HOME/pepper/template-service $HOME/pepper/template-service_<xlogin>
+cd $HOME/pepper/template-service_<xlogin>
+}}}
+  * go through all files, rename the application where necessary
+  * build the PKG and install it