​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:

    self.tts = ALProxy('ALTextToSpeech')
    self.tts.setLanguage('Czech')
    

  • to onInput_onStart add:

    self.tts.say("Ahoj, jak se máš?")
    self.onStopped()
    

• add Czech into Project Properties
  
• 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:

      try:
          self.speech = ALProxy("ALSpeechRecognition")
          self.speech.setLanguage('Czech')
      except:
          self.logger.info('Running on virtual robot')
          self.speech = None
  

• process speech accordingly

  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 ​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 ​QiChat - Introduction and ​QiChat - Syntax for details

adding animations

• single animation - via Animation box
• connect to dialog:
  • add rule to topic:

    u:(["můžeš zamávat" zamávej] {prosím}) ahojky $zamavej=1
    

  • add ​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 ​default list of animations

Pepper API II

installing application to the robot

• make a ssh key (replace <xlogin> with your login):

  ssh-keygen -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 ​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
  

tablet

• from a dialogue (see ​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)
  

• ​Using Pepper’s Tablet

face characteristics

• ​Get Age/Get Gender
• ​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