technical training - ccsfgrwoo/cs110a_sp20/pepper_robot.pdfget ready to explore your new robot! our...
TRANSCRIPT
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RobotLAB Choregraphe Training
An Introduction to Choregraphe and Pepper
Technical Training
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Meet,
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Get ready to explore your new robot!
Our agenda:
• Getting started with Pepper, Introduction to the software, Pepper’s
Software Architecture: Services, Boxes, Application Design, NAOqi Access
Methods, Programming Basics, Build an Application, Sensing,
Navigation, Object Detection, Face Detection
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• Understand box flow logic
• Learn all types of “boxes”
• Connect to your robot
Learning Objectives | Choregraphe
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GOAL: Master building Pepper applications using Choregraphe!
• Application management for your robot
So you want to bring your robot to life…?
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1) Overview
2) Boxes
3) Application Design
4) Animation
5) Installing Applications
6) Troubleshooting
Table of Contents | Choregraphe
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Overview - Topic IBasic Orientation
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UnboxYour Robot!
First things first…
Let’s get you a robot!
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1) Stand up the box
Opening the Box | Unbox your robot
2) Open & remove the cover
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Pre-Removal Steps | Unbox your robot
3) Flip the ramp open 4) Pull head and arms out
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5) Place your hands under Pepper's arms, then hold and pull the robot out of its box
Remove Pepper | Unbox your robot
6) Place Pepper in the REST position
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Remove the Pins | Unbox your robot
7) Remove the 2 pins 8) Open the soft cover behind the neck and store the pins
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Post-Removal Steps | Unbox your robot
10) Get the charger9) Unlock the emergency stop
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Accessory Storage | Unbox your robot
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You should have left:
**Store this in the master box; you will need it whenever you store or ship your robot.
• The charger box**
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Postures
Rest: safe posture- Head down- Knee and hip bent
Used when:
- Motors are off- Rest mode- Pepper is off
Standing: working posture
- Standing, arms along the body
- Pepper is awakeand ready to use
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🎉 CONGRATULATIONS! 🎉
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Basic Orientation - Topic I
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Basic Interaction
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Custom, pre-installed-for-many-use-cases software:
• “Basic Awareness”
• App that automatically starts looking for a human
• “The Dialog”
• App that starts automatically when the robot sees a human within its range
Pre-installed Software | Basic Interaction
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Basic awareness• When your robot starts, it stands up and starts
looking for people• Pepper is now able to react to basic stimuli:
• Sounds• Movements• Tactile contacts• Human Presence
• The goal is to find a human and interact with him/her!
Basic Awareness | Basic Interaction
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Human??
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Human!
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The Dialog○ Starts automatically when the robot sees a human
○ Human must be close (in Zone 1 or 2)
○ This app activates some “dialog topics” that you can
talk about with the robot
○ Basic channel: this is the set of “dialog topics”
The Dialog | Basic Interaction
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Hi!
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Interaction Zones | Talking to Pepper
Interaction zones:
ZONE 1
You are close enough to Pepper
to have a conversation
ZONE 2
You are too far for a conversation,
but you can hear Pepper calling
you over!
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ZONE 3
You are very far, Pepper sees you
but you cannot hear each other.
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Pepper’s Eyes | Talking to Pepper
The eye color reveals Pepper’s processing state:
Pink: Blue (spinning):Green:
Tracking a new person ListeningThinking
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Basic Dialogue | Talking to Pepper
What’s your name?
How are you?
What can you do?
What is your IP address?
What time is it?
Raise your arms.
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How tall are you?
How much do you weigh?
How old are you?
Are you a boy or a girl?
What color are you?
Why is your name Pepper?
Do you have a family?
What can I ask Pepper?
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Animate The Robot
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Bring Your Robot To Life
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In the animation library, there are 200+ movements available.
Use them in a dialog:
^run - starts and blocks until the movement is finished
^start - starts and continues while the movement is playing
^wait - blocks until the movement is finished (use it after a ^start)
^stop - stops a movement
u:(hello) ^run(animations/Stand/Gestures/Hey_1) Hey Jonas!
Animation Library | Animate The Robot
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Create A Movement | Animate The Robot
If you need more animations, you need to create them!
1) Create a new box “timeline”
2) Disable autonomous life - Pepper goes into Rest mode
3) Wake up the robot - Only “wakes up” the motors, not AL
4) Activate “animation mode”
5) Touch the hand to move the arm; store the position by tapping the
head
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Obstructions | Animate The Robot
How Pepper handles obstructions:
• When an obstacle is detected, Pepper will crop the movements
• Most obstacles are detected by the lasers (on the floor)
→ A wire is an example of a difficult-to-detect obstacle and can therefore represent an issue
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Overview | Face Recognition
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~ Challenge ~ | Face Recognition
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Challenge: Have Pepper learn your face and then call you
by name when it sees you.
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Hardware
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Pepper’s Anatomy
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Key Sections | Pepper’s Anatomy
The body is divided into several parts:
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Areas of Interest | Pepper’s Anatomy
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Sensors | Pepper’s Anatomy
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Motors are named after the joint and their
direction
Motors (Actuators) | Pepper’s Anatomy
Actuators
Yaw
Roll
Pitch
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Brakes & Pins | Pepper’s Anatomy
Brakes and Pins
The hip and knees have brakes to prevent Pepper from falling over.
Use the 2 pins to release the brakes:
• When you put Pepper in his box• For manually setting Pepper’s posture• To move or carry Pepper
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Charging the Battery | Pepper’s Anatomy
Charging Flap
Charger connector
To charge Pepper:
1. Open the charging flap2. Insert charger connector3. Turn connector to the right until it
clicks
Charging Flap = Mobility SecurityWhen the charging flap is opened, the wheels’ motors are deactivated. => Open if you don’t want Pepper to move around but still want to use him
Charging duration:
• 80% in 3h30• 100% in 8h
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Moving your Robot | Pepper’s Anatomy
1) Go to the Rest position
2) Make sure the charging flap is opened
3) Hold the robot
a) One hand on the shoulder for steering**
b) One hand on the hip for pushing
4) Move it carefully
**Never push with the shoulder or Pepper will tilt forward! 36
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Chest Button | Pepper’s Anatomy
The chest button has multiple uses:
- When Pepper is OFF:- Press once: start Pepper- Press and hold: check the microcontrollers & start Pepper
- When Pepper is ON:- Press once: get status and notifications- Press twice: Rest / Wake up- Press and hold 3s: turn Pepper OFF- Press and hold 8s: force switch OFF
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Network Connection | Pepper’s Anatomy
Robot has two connection options:○Wi-Fi (both Head & Tablet)○Ethernet
Use the hip pin to open the back of the head and reveal the Ethernet.
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Software Development Kit
Comprehensive API for C++ or Python
What is Choregraphe? | Choregraphe
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Choregraphe
Easy visual prototyping tool
Monitor
Watch internal robot sensor data, logs
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Software Development Kit
Comprehensive API for C++ or Python
Choregraphe vs SDK | Choregraphe
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ChoregrapheEasy visual prototyping tool
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Vs
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Simple Apps = ✓✓ | Choregraphe
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Production = Chaos! | Choregraphe
A “production” app is usually 2000+ lines of code… this can easily reach 50+ boxes, and 1000+ wires...
As boxes, it is:
- HARD to write, share, version- VERY HARD to organise, debug - IMPOSSIBLE to understand,
update
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Each box
contains
15+ boxes
They all run
concurrently...
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Tool Introduction | Choregraphe
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Welcome to Choregraphe!
Your “instant results” prototyping tool
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Let’s get you oriented!
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Project Content PanelWhere you manage project content!
Edit here!
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Box Libraries PanelWhere you find boxes to build with!
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Box Libraries Panel← Click & hold a box
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Flow Diagram PanelWhere the box building magic happens!
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ToolBarConnect, play apps, & more!
Connect to your robot
Disconnect from your robot
Play your application
Stop your application
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Robot View PanelA real-time, robot simulator!
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Video Monitor PanelA real-time camera monitor!
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Inspector PanelDisplays info on a selected box!
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Robot Applications PanelDisplays apps of connected robot!
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View Menu OptionsCustomize by turning on/off a panel
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Choregraphe - Topic IIBoxes
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Introduction to Boxes | Choregraphe
Boxes: the building blocks of a Choregraphe app
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Start inputStop input
Stopping output
Non-stopping output
“Number”: activation + numeric data
“Bang”: activation only
“String”: activation + text data
“Dynamic”: activation + any data
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• The O.S. inside Pepper’s Head is called NAOqi• NAOqi works with services
• Choregraphe abstracts the calling of services with a GUI
GUI Abstraction | Choregraphe
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=
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• Choregraphe abstracts the calling of services with a GUI• Say box => calls ALTextToSpeech service
Boxes = a GUI Abstraction | Choregraphe
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=
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Building Your First App | Choregraphe
… then click play!
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Your First App!aka “Hello World!”
Click & hold “Say” →
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Introduction to Parameters | Choregraphe
60Click wrench to access parameters
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Types of Boxes | Choregraphe
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Multimedia
Touch
Time
Templates
Tablet
Vision
LEDs
Speech
Animation
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Using the tablet…
1) Create a new directory: “html” 2) Import an image into this folder3) Find the box “Show image”4) Add a link to it5) Edit the parameter to the name of
your image6) Play the behavior!
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Tablet: Show Image | Types of Boxes
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Public domain:
• https://freesound.org/browse/• http://soundbible.com/• http://pdsounds.org/
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Play Sound | Types of Boxes
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Public domain / Creative Commons:
• https://www.pond5.com/free• https://vimeo.com/creativecommons/cc0• Youtube: How to ...
Downloading YouTube/Vimeo/etc videos:
• www.keepvid.com
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Play Video | Types of Boxes
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Animated Speech takes care of you most of the time…
Some circumstances call for a specific animation:
• Exaggerated gestures• Dances• Reactions
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Animations | Types of Boxes
vs
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Pepper has “presence.”
--
Take advantage of it!
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Touch Head | Types of Boxes
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Intro toProgramming
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Conditional Statements | Programming
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Conditional statements allow an app to flow in
different directions based on a user’s input.
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Programming: If | Types of Boxes
Flow
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Flow Control | Programming
Flow Control in a Choregraphe application is determined by:
● Conditional Statements
● Loops
● Function Calls
● Signal Events
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Loop boxes a certain
number of times using
Counter
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Counter | Types of Boxes
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Choregraphe - Topic IIIPrototyping an Application
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Q: What is an application?
A: A set of robot actions that tell a story in 4D and provide a human with an experience.
Application Overview | Choregraphe
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Q: What is a prototype?
A: A set of robot actions (think boxes!) that demonstrate a proof of concept of an application. In terms of files, it includes:
• Behaviors (.xar): what pepper can do
• Dialog topics (.dlg / .top): what pepper can talk about
• Other resources (media, scripts, web pages…): app
content, html, complex actions, etc.
• Properties (icon, name, …): configurations, settings, etc.
Prototyping Overview | Choregraphe
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Remember: your goal is just to make a proof of concept!
• Scope prototype to the key section(s) of your app idea
• Sketch out the flow of the app in frames, including:• the Tablet design• the Dialog• Robot movements
Storyboarding Your Prototype | Choregraphe
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Quick Detour #1NAOqi Access Methods
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When working on the robot, everything** happens in the head processor:
SSH + SFTP | NAOqi Access Methods
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What connection protocols can you use to access the robot?
SFTPAccess the file
system
SSHAccess the
terminal
● Recordings are stored in the head
● Logs are stored in the head
**The Tablet is mostly used as a display / monitor
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SSH via Command Shell | NAOqi Access Methods
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>_ Access Pepper’s Linux head (NAOqi) remotely with your command shell via SSH
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> ssh nao@{Your-Robot’s-IP Address}
Example:
> ssh [email protected]
> Are you sure you want to continue connecting (yes/no)? yes
> Warning: Permanently added '10.80.129.97' (ECDSA) to the list of known hosts.
> Password: nao {default password = ‘nao’}
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SSH via Command Shell | NAOqi Access Methods
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Challenge: Make the robot say “Hello World!”Example:
> ssh nao@<Your-Robot’s-IP>
> Password: nao
> pepper [0] ~ $ say “hello world”
SSH Challenge! | NAOqi Access Methods
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Access Pepper’s File System remotely with an
SFTP Client, such as FileZilla
SFTP via FileZilla | NAOqi Access Methods
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Other SFTP Clients:Transmit WinSCP Cyberduck
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Pro Tip #1
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Debugging: Reflash the Controllers
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• Motors or sensors misbehaving? (e.g. wrong angle, unreachable peripheral, etc.)
• Pepper detect and notify you of an error?
Reflash the controllers:
• Switch off• Wait 10 seconds• Press and hold the chest button for 8s (shoulders turn blue; activates reflash)• Reflash boot will take ~15-20min
reflash /riːˈflash/ verb - Boot mode that checks all the internal microcontrollers and flashes
(resets) their firmwares if needed. No user information will be impacted; it’s only low-level.
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Reflashing the Controllers | Debugging