pepper.framework package¶

The Pepper Framework Package consists out of the basic building blocks to make robot applications.

Abstract¶

The framework.abstract package contains specifications for:

Sensors: AbstractCamera AbstractMicrophone
Actuators: AbstractTextToSpeech AbstractMotion AbstractLed
Backends & Applications: AbstractBackend AbstractApplication
Components & Intentions: AbstractComponent AbstractIntention

Backend¶

The framework.backend package contains the backends implementing Sensors, Actuators & Backend:

NAOqiBackend implements the backend for Pepper & Nao Robots
SystemBackend implements the backend for Windows/Mac/Linux systems.

Sensor¶

The framework.sensor package implements Face, Object and Speech Recognition:

VAD implements Voice Activity Detection on Microphone input
StreamedGoogleASR implements Automated Speech Recognition through Google Speech API
ObjectDetectionClient connects to pepper_tensorflow for Object Detection
OpenFace connects to the bamos/openface Docker container for Face Recognition
Location gets the current geographical location (WIP)

Component¶

Applications are made out of several instances of AbstractComponent, which expose various methods and events to applications. They’re summarized below:

CameraComponent exposes the on_image() event.
MicrophoneComponent exposes the on_audio() event.
SpeechRecognitionComponent exposes the on_transcript() event.
ObjectDetectionComponent exposes the on_object() event.
FaceRecognitionComponent exposes the on_face(), on_face_known() & on_face_new() events.
TextToSpeechComponent exposes the say() method.
BrainComponent exposes pepper.brain.long_term_memory.LongTermMemory to the application.

Some Components are more complex and require other components to work. They will raise a pepper.framework.abstract.component.ComponentDependencyError if dependencies are not met.

ContextComponent exposes pepper.framework.context.Context to the application and overrides the say() method to work with the Chat class. It also exposes the on_chat_turn(), on_chat_enter() & on_chat_exit() events.
StatisticsComponent displays realtime system statistics in the command line.
SceneComponent creates a 3D scatterplot of the visible space.
DisplayComponent shows the live camera feedback and the 3D view of the current space, including the objects that are observed.