Pepper Lab42

Setting up docker container

$ docker build -t lab42 .
$ docker run -it --name pepper --net=host --env="DISPLAY" --volume="$HOME/.Xauthority:/root/.Xauthority:rw"  --device=/dev/input/ -v ${PWD}/source:/root/source lab42

Starting environment

Expose DISPLAY variable for GUI apps and attach a terminal to the container where behaviour scripts can be executed.

$ xhost +local:root
$ docker start pepper
$ docker attach pepper
# double ENTER

~/source# 

Running behaviours

While connected to the same network as Pepper scripts lcoated in the ./source folder can be executed in the docker terminal.

~/source# python behaviour.py --ip x.x.x.x

Good to know

Indices arm joints

0. ShoulderPitch
1. ShoulderRoll
2. ElbowYaw
3. ElbowRoll
4. WristYaw
5. Hand