pyRobot - a repository for easier robot coding

Purpose

The purpose for this repository is to include functions that makes it easier to work with the Pepper robots, and thereby stream-lining the development of future research projects.

Router Connection Information

Name: Pepper
Password: 60169283

Pepper Robots

Username: nao
106 & 110: pepper
108: Sokrates1
152: salt
The one that does not work: chili

Important Links for Pepper (NAO) after Aldebaran shutdown (2nd of June 2025)

NAO Cloud resources: https://github.com/aldebaran
Software Versions: https://github.com/aldebaran/nao6-binaries
Applications and languages: https://github.com/aldebaran/nao6-apps
Documentation: https://github.com/aldebaran/nao6-doc-sdk

Setting up numbers on tablets for Symbolic AI Course (and how to stop them from appearing.)

To setup the ID numbers on the robots we need to connect to the robots via Choreograph. NOTE that when downloading Choreograph you must ensure that the version corresponds to the version of NaoQi on the robot. Meaning if your pepper robot runs NaoQi 2.5 you must download Choreograph 2.5.X.

From my knowledge (Dennis), almost all robots at DTU run on NaoQi 2.5, though not the one from Deloitte as it runs on 2.9 (the one that stands a little wonky when turned off).

I have split the tutorial into two sections:

1. Tutorial for download: Downloading Choregraph Suite 2.5 (and newer versions)
2. To have the robots showcase the ID upon startup we need to create a Robot Application via Choreograph and deploy it on the robot itself. See Getting to know the robot through Choreograph on how this is done.

• What if an application has been made, but I don't want it to show the numbers anymore? Look under Oh no, I need it to stop....

Downloading Choregraph Suite 2.5 (and newer versions)

Something I found to be a little irritating when looking into Choreograph is how fragmented the documentation is. I discovered Choreograph 2.5.X requires a license key, whereas Choreograph 2.9.X does not. I downloaded the v.2.5 from here using the following license-key:

654e-4564-153c-6518-2f44-7562-206e-4c60-5f47-5f45

found here. For newer versions of NaoQi maintained by Aldebaran i would refer to this link.

Getting to know the robot through Choreograph

For the following brief tutorials, I will be referring to some of the documentation made by Aldebaran.

Connecting to the robot

Once you have the correct Choreograph version downloaded, you can connect to the robot. Using Choreograph you can do two things.

1. Work on a simulated Pepper robot
2. Connect directly to a robot that you have turned on and connected to the same network as the computer you are using.

I refer to the following tutorial, Connecting Choregraphe to an Aldebaran robot, to show how a connection to the robot is made.

Creating a Robot Application

As mentioned, a Robot Application is required in order for us to show the numbers upon startup. In Choreograph, create an empty project.

The first step is to access the project properties. Here you must fill in the boxes as seen in the image. Make an application title, and choose an application ID. Notice, the applications directory name will have the same name as the ID, once deployed on the robot.

All robot applications can be found via ssh on the robot under the following path,
/home/nao/.local/share/PackageManager/apps/

Choose requirements, and for this specific application with the numbers, we select Language Independent.

The second step is to add the required files to your project. Create a folder called html and add the image files in that folder, s.t. your file structure looks like:

The third and last step is to create the behavior of the application. In our case we wish for the corresponding robot to showcase either one of the images. In the Box Libraries view, select Multimedia/Tablet/Show Image, and drag it into your workspace. It should look something like this,

Now we need to set it up, such the program selects the correct image. Click on the Show Image frame and look a the Inspector view. Scroll down to the heading called Set parameter(s). In the field, you simply refer to whichever image you wish to showcase. NOTE that it automatically retrieves from the html directory, i.e. write the relative path. Based on my project structure I would simply write /1.png in the field.

Finally, we need to setup the workflow of the program such that on start-up we run the program. In the workspace pane create the following connections.

1. OnStart (robot) -> OnStart (Show Image)
2. OnStop (Show Image) -> OnStopped (Show Image)
3. OnStopped (Show Image) -> onHideImage (Show Image)
4. OnStopped (Show Image) -> OnStopped (robot)

This link explains how connections are made.

Your workspace should look something like this:

Then, go to the Robot Applications view. In the toolbar, click on the button that says Package and install current project to the robot. This should install you project to the robot. For more information on the view, look into this link. Once it has been installed, you will be able to see it in the view,

IMPORTANT to have the application run on start-up, you must add the flag as seen on the right side of each application in the view. This is done by hovering your mouse on top of the behavior that you want to run, and the click on the flag that appears.

Now restart your robot.

Oh no, I need it to stop...

First, follow the same steps on downloading Choreograph. There are two approaches. First, is to simply delete the application entirely, and the second is to simply deactivate and exclude it from the startup procedure of the robot.

1. Download the Choreograph version that corresponds to the NaoQi version.
2. Go into the Robot Applications view.
3. Find the application that is causing the problem. If I made them (Dennis), they probably have the following naming scheme, robot-number-display-X.
4. (a) Select the directory and elete it via the toolbar.
5. (b) Expand the directory view, and click on any flags that might be there causing the behaviors to run on startup.

Now restart your robot.