Idiap's Robot Toolkit
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Idiap Robot Toolkit
A toolkit to handle robots with Python.
Installation
The Idiap Robot Toolkit is available on PyPi
and can be installed via pip:
$ pip install idiap-robot-toolkit
When using Qt6 through PySide6, install it with conda:
(base) $ conda create -y -n irt python=3.11 pip pyside6
(base) $ conda activate irt
(irt) $ pip install idiap-robot-toolkit
# or
(irt) $ pip install -e .
Using the Wizard-of-Oz GUI
The qi_robot_wizard executable launches a GUI to control Pepper.
qi_robot_wizard --robot pepper --name myapp --scenario resources/yes-no.ini --tablet resources/images/
with for instance the following resources/yes-no.ini file
[yes]
yes: Yes, indeed!
definitely: Definitely yes!
sure: Yes, for sure!
[no]
afraid: I am afraid not!
impossible: Unfortunately, that won't be possible
no: Absolutely not.
and the following images (which will be copied on the robot to /home/nao/.local/share/PackageManager/apps/myapp/html)
pepper-images/
├── black.png
├── green.png
├── idiap-1600.png
└── mummer-logo.png
renders the following GUI
Using the API
Folder examples contains some Python scripts on how to use the toolkit.
# NAO_IP being defined as en env variable
robot = irt.Pepper()
robot.wake_up()
robot.say("Hello! I am Pepper.")
_, frame = robot.get_frame()
Troubleshooting
Qt platform plugin
Sometimes the following error occurs:
qt.qpa.plugin: From 6.5.0, xcb-cursor0 or libxcb-cursor0 is needed to load the Qt xcb platform plugin.
qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/.../lib/python3.12/site-packages/cv2/qt/plugins" even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
Available platform plugins are: minimal, minimalegl, eglfs, vkkhrdisplay, offscreen, vnc, xcb, linuxfb, wayland-brcm, wayland-egl, wayland.
This can be solved by installing the conda version of PySide6 instead of the Python version:
(base) $ conda create -y -n irt python=3.12 pip pyside6
(base) $ conda activate irt
(irt) $ pip install idiap-robot-toolkit
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