Unfortunately, the emulator for Pepper only works reliably under Linux, but unfortunately not out of the box here either. After the regular installation, a few more steps are required to get the emulator running reliably.
I am using Ubuntu 22.04.1 at this time and cannot guarantee that it will run on other distributions.
sudo apt install qemu-kvm
sudo adduser yourusername kvm
cd /home/$USER/.local/share/Softbank Robotics/RobotSDK/API 7/tools/lib
mv libz.so.1 libz.so.1.bak
ln -s /usr/lib/x86_64-linux-gnu/libz.so libz.so.1