HEAD

Hanson Environment for Application Development

This repository contains the integrated code for controlling and interacting with many Hanson Robotics robot heads. It includes the full performance pipeline and infrastructure:

• Perception, via ROS webcam nodes.
• Face detection, for seeing faces in the room.
• Blender robot model, for gracefully controlling facial expressions.
• Behavior tree, for scripting performaces.
• Motor control ROS nodes, for controlling the physical robot.

Prerequisites

• Only Ubuntu 14.04 is supported

Install, build and run

• Get hrtool

wget https://raw.githubusercontent.com/hansonrobotics/HEAD/master/scripts/hrtool

• Make it executable

chmod +x hrtool

• Set the workspace, default workspace is ~/hansonrobotics (optional)

./hrtool -w <workspace>

• Get HEAD and OpenCog source code

./hrtool -G

• Install Dependencies

./hrtool -i

• Build HR workspace and OpenCog

./hrtool -B

• Run

cd ~/hansonrobotics && ./dev.sh

• Open web browser

HTTP: http://127.0.0.1:8000/ or HTTPS: https://127.0.0.1:4000/

• Remove hrtool. After the source code is built we don't need this script anymore.

rm ./hrtool

Checkout latest OpenCog (developer mode)

./hrtool -d

This option is used when you want to get the latest OpenCog stack. It will set the remote of git repositories of OpenCog to OpenCog domain.

Troubleshooting

pip3 is not found

Reinstall pip3 apt-get install -y --reinstall python3-pip