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🚀 Getting Started with the Pepper Robot

This guide walks you through two ways to interact with the Pepper robot in The RAIL Lab:

  1. Direct Connection – Quickly communicate with Pepper via WiFi, SSH, or its web interface.
  2. Docker Development Environment – Use a consistent containerized setup with the NAOqi SDK and Choregraphe for development and testing.

🧭 Option 1: Connect Directly to Pepper​

Use this method when you want to:

  • Manually control Pepper using its web interface
  • Use SSH to run simple commands or inspect logs
  • Trigger built-in behaviors

🔌 Power and Network​

  1. Turn Pepper On using the button under its screen.
  2. Connect to the RAIL Lab WiFi network.
  3. Find Pepper's IP Address:
    • Default: 192.168.1.5
    • Or: press the power button once; it will speak the address.

🌐 Web Interface​

Navigate to http://192.168.1.5 in your browser and log in.

🔐 SSH Access​

ssh nao@192.168.1.5
  • Credentials are shared in the Pepper Discord channel.
  • Do not modify system files (e.g. /opt/aldebaran).

🎤 Voice & Interaction Examples​

Pepper understands:

  • "close hand"
  • "raise arm"
  • "look left/right"
  • "shake hand"
  • "stop looking at me"

Touch interactions:

  • Stroke head → Pepper purrs
  • Cover front camera → Pepper goes to sleep

🐳 Option 2: Use the Docker Development Environment​

Use this when you want to:

  • Write custom Python scripts using the NAOqi SDK
  • Run Choregraphe GUI on your machine for behavior creation
  • Maintain a consistent dev environment with no manual setup

This setup replicates Pepper’s development environment locally in a Docker container, removing the need to install legacy software natively.

🧰 Requirements​

  • Docker
  • For Windows: X Server (e.g., VcXsrv)
  • RAIL Lab resources:
    • Choregraphe installer
    • Python SDK archive
    • License key

🔧 Setup Instructions​

Step 1: Clone the Repository​

git clone https://github.com/raillab/docker-for-pepper-robot.git
cd docker-for-pepper-robot

Step 2: Add Installation Files​

Get from a lab admin:

  • choregraphe-suite-2.5.10.7-linux64-setup.run
  • pynaoqi-python2.7-2.8.6.23-linux64.tar.gz

Place both in the repo root.

Step 3: Build and Run​

docker build -t wits-naoqi .
./run_container.sh

Additional terminals:

docker exec -it wits_pepper bash

Windows users:

xhost +local:docker
# After you're done:
xhost -local:docker

🧩 Install Choregraphe in Docker​

/choregraphe/choregraphe-suite-2.5.10.7-linux64-setup.run

Or use silent install:

/choregraphe/choregraphe-suite-2.5.10.7-linux64-setup.run --mode unattended --installdir /home/user/choregraphe/

To relaunch Choregraphe later:

./choregraphe/choregraphe

From the Choregraphe GUI, you can connect to Pepper using its IP address.

🧪 Test the Python SDK​

from naoqi import ALProxy
tts = ALProxy("ALTextToSpeech", "192.168.1.5", 9559)
tts.say("Hello, world!")

🧑‍💻 Development Workflow​

  • The ./src directory is mounted into the container.
  • Edit code on your machine and run/test it from the container.
  • Deploy and test behavior on the real Pepper robot.

📚 Additional Resources​

Supported SDKs:

✅ Python | ⏳ C++ | ⏳ Java | ⏳ JavaScript | ⏳ ROS