​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

• tablet:
  • ​Using Pepper’s 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)
    

• deploy 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/
    

• creating application ​outside Choregraphe