HRI (Spot environment)

The source code is related to BostonDynamics Spot. Voice controls implemented for Spot with user authentication.

Demo Video:

Audio authentication for voice control on the Spot Robot. The spot robot interactes only when the voice commands come from the registered author(here its me@sougato97).

Authors:

• Sougato Bagchi - [email protected]/[email protected]
• Geethartho Chanda - [email protected]

My setup

• I am using windows 11 (WSL - Ubuntu 18)
• For gpu setup please install, nvidia cuda toolkit on windows
• Your distro will be able to access the gpu drivers.
• You need to install USBIPD on windows
• Follow the steps from this website :
  • https://learn.microsoft.com/en-us/windows/wsl/connect-usb

Installation

To install this project, follow these steps:

• Install Miniconda (https://docs.conda.io/en/latest/miniconda.html)

Create Conda env

conda create --name hri
conda activate hri

Install PyTorch GPU

conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia

Install record audio libraries

conda install -c anaconda pyaudio

Install Voice Authentication module

pip install pyannote.audio

Install OpenAI for chatGPT integration

conda install -c conda-forge openai

Install Whisper voice trascription model

pip install -U openai-whisper
pip install git+https://github.com/openai/whisper.git 
pip install --upgrade --no-deps --force-reinstall git+https://github.com/openai/whisper.git
sudo apt update && sudo apt install ffmpeg

Install BostonDynamics API

python3 -m pip install --upgrade bosdyn-client bosdyn-mission bosdyn-choreography-client
python3 -m pip install bosdyn-client==3.2.2.post1 bosdyn-mission==3.2.2.post1 bosdyn-choreography-client==3.2.2.post1

Verify your Spot packages installation

python3 -m pip list --format=columns | grep bosdyn

Your output for the prev command should be:

bosdyn-api                    3.2.2.post1
bosdyn-choreography-client    3.2.2.post1
bosdyn-choreography-protos    3.2.2.post1
bosdyn-client                 3.2.2.post1
bosdyn-core                   3.2.2.post1
bosdyn-mission                3.2.2.post1

If you face any issues, please refer to: https://dev.bostondynamics.com/docs/python/quickstart

This code needs API keys from huggingface.co(for pyannote)

• I have added these keys to the .bashrc file
• HuggingFace link - https://huggingface.co/settings/tokens
• Also you have to agree to some T&C. Preferably run it 1st time on jupyter, you will get the link there itself.

export PYANNOTE_API_KEY="you-key-please"

In the terminal

• window 1

python ./spot_dev/spot-sdk/python/examples/estop/estop_nogui.py ip_of_the_robot

• window 2

python ./spot_dev/speech_recog/main.py ip_of_the_robot

You may need to create an ssh setup for GitHub

• Follow the comands below, you may discard the prompts
• copy and paste the id_rsa.pub contents to https://github.com/settings/keys

ssh-keygen -t rsa -b 4096 -C "[email protected]"
eval $(ssh-agent -s)
ssh-add ~/.ssh/id_rsa
git config --global user.email "[email protected]"
git config --global user.name "Jon Doe"