HEAD
Hanson Environment for Application Development ** DEPRECATED **
hansonrobotics / head Goto Github PK
View Code? Open in Web Editor NEWFull software stack for the Hanson Robotics robots
head's Introduction
head's People
Contributors
Stargazers
Watchers
Forkers
wenwei-dev tseg leungmanhin vytasrgl redtil linas ruiting ngeiswei yenat dergkat weeksjr lnming eddiemonroe moikle aro-ai-robots red-five-bot lovecorporation loveincorporated archywillhe nixworks alexxnica kryndex ishandutta2007 digits88 precogsecurity cryptomainframe brainfood-com arishapiro poornachandrakashi naoufalhatim edguy3 mblackbourne xanthoprotein cr4shov3rrid3 f34na5head's Issues
CMT tracker failing
@tesYolan @yantrabuddhi starting the cmt-tracker with ./dev.sh --oc --cmt , gives the following error .
couldn't execute "telnet": no such file or directory
It seems that hrtool does not install telnet as a pre-requisite:
running ./dev.sh --oc --cmt mostly runs, except that tty terminal 5 shows:
Connection to localhost 17020 port [tcp/*] succeeded!
spawn telnet localhost 17020
couldn't execute "telnet": no such file or directory
while executing
"spawn telnet $host $port"
(file "/home/ubuntu/hansonrobotics/HEAD/scripts/load_scm.exp" line 13)
ubuntu@hr-HEAD-3:~/hansonrobotics/HEAD/scripts$
OC chatbot issues
Evaluation of the OC chatbot vs. stock AIML chatbot has revealed multiple issues. This bug report will try to list all of them.
- The default bot parameters, here: https://github.com/opencog/opencog/blob/master/opencog/nlp/aiml/bot.scm are not the same as the HR bot paramters, here: https://github.com/hansonrobotics/HEAD/blob/master/src/chatbot/scripts/characters/sophia.properties
- Not all of the tiers might be getting loaded. The tiers are:
sophia: weight: 0.9 level: 90
solr_bot: weight: 0.5 level: 91
solr_matcher: weight: 0.5 level: 92
generic: weight: 1.0 level: 93
sophia_early_pickup: weight: 0.7 level: 94
sophia_mid_pickup: weight: 1.0 level: 95
The equivalent way to load these for OC would be to use the ./aiml2psi.pl --priority <float> flag, setting 0.9 for sophia, 0.1 for generic, 0.007 for early pickup, and 0.0003 for mid_pickup. (I think.) This should cause the sophia rules to be used 90% of the time, if available, else generic, 9.3% of the time, else early pickup 0.67% of the time, else mid_pickup at 0.03% of the time (or always, if all the other failed).
- Sometimes, OC does not generate any reply. Not sure why, the fallback to the pickup lines should always work. Need copy for the debug printout for failing cases. See related bug opencog/opencog#2264
- OC relative weighting is incorrect: "you seem unclear on this" triggers both the "YOU ARE *" pattern and the "YOU *" pattern, weights are here, https://github.com/opencog/opencog/blob/master/opencog/nlp/aiml/import/aiml2psi.pl#L992-L993 the email analyzes this issue in depth. Might be fixed in opencog/opencog#2355
- OC may not be handling
<srai>*</srai>correctly, see https://github.com/hansonrobotics/character_dev/pull/48 - OC does not support "that index", for example
<that index="1,1"/>in https://github.com/hansonrobotics/HEAD/blob/master/src/chatbot/scripts/aiml/generic/that.aiml#L597-L599 has the same meaning as a typical that tag - OC does not support "input index" nor
<input/>tag - OC is not able to do substitution like "that's" -> "that is" and "it's" -> "it is" etc, and hence fails to find the intended rule with a pattern in the substituted form
- OC does not support "that" tag in the AIML pattern
- OC does not support * in "that" tag
- Punctuation is causing problems in OC AIML rule matching, e.g. there is a rule with a pattern
<pattern>ARE YOU INFALLIBLE</pattern>, and if the input is "are you infallible?", this rule won't be selected in OC because of the "?" - OC does not handle "person2" tags
- Capital letter like "I" as in "I like reading" will be preserved in OC instead of turning it into small letter "i", this will mess with the AIML pattern matching
- OC may need to support nested random tag after all, as it seems that the chatbot does srai and uses some of the rules that has nested random tags in it (e.g. https://github.com/hansonrobotics/HEAD/blob/master/src/chatbot/scripts/aiml/generic/interjection.aiml) quite often, OC currently generates either nothing or a messed up reply
- OC cannot correctly convert this rule in bot.aiml
<category><pattern>DO YOU LIKE *</pattern>
<template>
<think> <set name="it"> <set name="topic"> <person/> </set> </set> </think>
<random>
<li>I like <bot name="forfun"/>.</li>
<li>I like <bot name="friend"/>.</li>
<li>I like <bot name="kindmusic"/>.</li>
<li>I like <bot name="favoriteband"/>.</li>
<li>I like <bot name="favoritesong"/>.</li> <li>I like <bot name="favoritebook"/>.</li>
<li>I like <bot name="favoritefood"/>.</li>
<li>I like <bot name="favoritecolor"/>.</li>
<li>I like <bot name="favoritemovie"/>.</li>
<li>I like <bot name="favoriteartist"/>.</li>
<li>I like <bot name="favoriteauthor"/>.</li>
<li>I like <bot name="favoriteactor"/>.</li>
<li>I like <bot name="favoriteactress"/>.</li>
<li>I like <bot name="talkabout"/>.</li>
<li>I like <bot name="celebrity"/>.</li>
<li>I really like <bot name="favoriteshow"/>.</li>
<li>I really like the <bot name="religion"/> faith.</li>
</random></template>
</category>
- OC aiml2psi generates nothing for an AIML pattern
<pattern>0</pattern> - OC does not support
<bot name=...>that may exist in the pattern
Performance key words matching
The keyword such as sing gets matched when the input is singularity. It should match the whole word not the letters.
Admin settings cant set value to 0
Settings page cant set value to 0
Behavior is still running when it's in sleeping mode
Popup windows position
Popup window position (for settings or reporting) should be lower than menu.
Also need to check different window sizes
Expressions and Gestures in Timeline editor
Expressions and gestures settings do not work on timeline settings node and settings page
Error when you install vision dependencies
md5sum: openface/celeb-classifier.nn4.small2.v1.pkl: No such file or directory
/opt/hansonrobotics/vision/openface/models/get-models.sh: line 74: [: 199a2c0d32fd0f22f14ad2d248280475: unary operator expected
- ERROR! openface/celeb-classifier.nn4.small2.v1.pkl md5sum did not match.
- Expected: 199a2c0d32fd0f22f14ad2d248280475
- Actual:
- Please manually delete this file and try re-running this script.
Some errors from webui
ERROR in ./application.js
Module not found: Error: Cannot resolve module 'backbone' in /home/hr/hansonrobotics/HEAD/src/webui/client
@ ./application.js 1:0-57:2
ERROR in ./modules/performances/views/layout.js
Module not found: Error: Cannot resolve module 'backbone' in /home/hr/hansonrobotics/HEAD/src/webui/client/modules/performances/views
@ ./modules/performances/views/layout.js 1:0-87:2
ERROR in ./modules/performances/views/layout.js
Module not found: Error: Cannot resolve module 'underscore' in /home/hr/hansonrobotics/HEAD/src/webui/client/modules/performances/views
@ ./modules/performances/views/layout.js 1:0-87:2
ERROR in ./modules/performances/views/attention_regions.js
Module not found: Error: Cannot resolve module 'underscore' in /home/hr/hansonrobotics/HEAD/src/webui/client/modules/performances/views
@ ./modules/performances/views/attention_regions.js 1:0-169:2
ERROR in ./modules/interaction/views/interaction.js
Module not found: Error: Cannot resolve module 'underscore' in /home/hr/hansonrobotics/HEAD/src/webui/client/modules/interaction/views
@ ./modules/interaction/views/interaction.js 1:0-515:2
ERROR in ./modules/interaction/entities/face_collection.js
Module not found: Error: Cannot resolve module 'backbone' in /home/hr/hansonrobotics/HEAD/src/webui/client/modules/interaction/entities
@ ./modules/interaction/entities/face_collection.js 1:0-44:2
ERROR in ./modules/interaction/entities/face_collection.js
Module not found: Error: Cannot resolve module 'underscore' in /home/hr/hansonrobotics/HEAD/src/webui/client/modules/interaction/entities
@ ./modules/interaction/entities/face_collection.js 1:0-44:2
Webui motor settings page can't open
http://localhost:8000/#/admin/motors
robot: sophia5
1.js:28setting expression to: Neutral, intensity: 0
1.js:28pointing head:
1.js:28Object {yaw: 0, pitch: 0, roll: 0}
1.js:221 Uncaught TypeError: t.get(...) is not a functiona.Row.e.View.extend.makeCell @ 1.js:221a.Row.e.View.extend.initialize @ 1.js:221e.View @ 1.js:222i @ 1.js:222a.Body.e.View.extend.insertRow @ 1.js:221b @ 1.js:26v @ 1.js:26d @ 1.js:26u.trigger @ 1.js:26n.extend._onModelEvent @ 1.js:26b @ 1.js:26v @ 1.js:26d @ 1.js:26u.trigger @ 1.js:26n.extend.set @ 1.js:26n.extend.add @ 1.js:26(anonymous function) @ 1.js:207s.ajax.success @ 1.js:206l @ 1.js:24c.fireWith @ 1.js:24i @ 1.js:25(anonymous function) @ 1.js:26
fatal error: Flandmark.h: No such file or directory
After doing an hrtool -U and hrtool -B I get the following error:
_______________________________________________________________________________
Errors << cmt_tracker:make /home/ubuntu/hansonrobotics/HEAD/logs/cmt_tracker/build.make.000.log
In file included from /home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/src/face_locator_node.cpp:1:0:
/home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/include/face_locator_node.h:46:23: fatal error: Flandmark.h: No such file or directory
#include "Flandmark.h"
^
compilation terminated.
In file included from /home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/src/cmt_tracker_node.cpp:2:0:
/home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/include/face_locator_node.h:46:23: fatal error: Flandmark.h: No such file or directory
#include "Flandmark.h"
^
compilation terminated.
This container used to work before, without any problems.
maybe-bug during install
While running the command
/tmp/hrtool -i
I noticed the follwing error scroll by:
Installing collected packages: pyyaml, nltk
Found existing installation: PyYAML 3.10
Not uninstalling PyYAML at /usr/lib/python2.7/dist-packages, owned by OS
Running setup.py install for pyyaml
checking if libyaml is compilable
x86_64-linux-gnu-gcc -pthread -fno-strict-aliasing -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fPIC -I/usr/include/python2.7 -c build/temp.linux-x86_64-2.7/check_libyaml.c -o build/temp.linux-x86_64-2.7/check_libyaml.o
build/temp.linux-x86_64-2.7/check_libyaml.c:2:18: fatal error: yaml.h: No such file or directory
#include <yaml.h>
^
compilation terminated.
libyaml is not found or a compiler error: forcing --without-libyaml
(if libyaml is installed correctly, you may need to
specify the option --include-dirs or uncomment and
modify the parameter include_dirs in setup.cfg)
skipping 'ext/_yaml.c' Cython extension (up-to-date)
Running setup.py install for nltk
warning: no files found matching 'README.txt'
warning: no files found matching 'Makefile' under directory '*.txt'
warning: no previously-included files matching '*~' found anywhere in distribution
Successfully installed pyyaml nltk
Given the success message at the end, maybe this is not a problem?
Performance naming
Performance naming to be automatically incremented when creating new performances
Based on last performance and folder name.
Xenial -- install issues
While testing on xenial, I noticed that cmake is not installed, so that hrtool -B fails.
Timeline node overlapping
Timeline nodes overlapping if shorter node falls inside the long node
hrtool fails to build cppmt if directory exists.
If the cppmt directory exists, then cppmt is not built. This is because the build command is located inside of an if-test -- it should be moved out, with the following diff:
diff --git a/scripts/hrtool b/scripts/hrtool
index 3a9b28c..25e5d64 100755
--- a/scripts/hrtool
+++ b/scripts/hrtool
@@ -331,23 +327,23 @@ install_vision_deps() {
if [ ! -d $CPPMT_DIR ]; then
info "Cloning CppMT"
git clone https://github.com/hansonrobotics/CppMT.git $CPPMT_DIR
+ else
+ warn "Skipping CppMT clone"
+ fi
cd $CPPMT_DIR
git checkout wrapper
cmake .
make -j$(nproc)
- else
- warn "Skipping CppMT clone"
- fi
if [ ! -d $EMOTIME_DIR ]; then
info "Cloning emotime"
git clone https://github.com/hansonrobotics/emotime.git $EMOTIME_DIR
- cd $EMOTIME_DIR/build
- cmake ..
- make -j$(nproc)
else
warn "Skipping emotime clone"
fi
+ cd $EMOTIME_DIR/build
+ cmake ..
+ make -j$(nproc)
info "Installing vision dependencies is done"
}
expressions are inconsistent
Edit expression on WebUI, save it. Then set the same expression using basic_head_api, it's not the same look.
For example, go to http://localhost:8000/#/admin/expressions, click "VIS_Q-W", the expression is different as you run this command rostopic pub -1 /sophia5/make_face_expr basic_head_api/MakeFaceExpr vis_Q-W 1
This makes it impossible to edit the expression on WebUI.
RelEx build fails due to code encoding
Buildfile: /root/hansonrobotics/opencog/relex/build.xml
build-subprojects:
init:
build-version:
[echo] Building RelEx version 1.6.2
[copy] Copying 1 file to /root/hansonrobotics/opencog/relex/src/java/relex
look-for-owl:
[echo] Will not build (optional) OWL output format; org.semanticweb.owl classes not found.
look-for-opennlp:
[echo] Could not find (optional) OpenNLP-1.5 classes.
build-project:
[echo] relex: /root/hansonrobotics/opencog/relex/build.xml
[mkdir] Created dir: /root/hansonrobotics/opencog/relex/bin
[javac] Compiling 76 source files to /root/hansonrobotics/opencog/relex/bin
[javac] /root/hansonrobotics/opencog/relex/src/java/relex/output/NLGInputView.java:109: error: unmappable character for encoding ASCII
Sliders in motors admin page
While editing min, init, max motor positions sliders should appear and it should directly control motors, so feedback on the robot would be visible.
no ~/.hr/aiml directory after HEAD installation
concurrently with the blender fail in issue one, in the chatserver shell (tmux window 3) i get this error:
sh: 1: cd: can't cd to /home/biocog/.hr/aiml/character_dev
i have a .hr directory with megabytes of log files but no aiml directory. is that a separate installation?
Enhancement: Multiple Timelines
It would be nice to implement multiple timelines. Each timeline has the same control as it is right now.
It's like slider, you can jump back to any specific timeline, or you can play them sequentially.
So
| Run | Loop |
--------------------------
will become
| Run | Loop | -----------------
| Run | Loop | -----------------
| Run | Loop | -----------------
...
| Run | Loop | -----------------
Need to install Link Grammar
Looks like we need to install link grammar as well otherwise some of the opencog nlp modules won't be installed correctly.
Download the latest stable version from http://www.abisource.com/downloads/link-grammar/
and follow the instructions in README will do, probably we should add this to hrtool
ImportError: No module named libxml2
I beleive the needed pre-req libxml2 is not being installed by hrtool. The error message on terminal 9, when running ./dev.sh --oc --cmt its this:
libdc1394 error: Failed to initialize libdc1394
[camera-1] process has died [pid 11293, exit code 1, cmd /opt/ros/indigo/lib/usb_cam/usb_cam_node __name:=camera __log:=/home/ubuntu/.hr/log/a6d76866-56b5-11e6-b8a8-00163ed4b919/camera-1.log].
log file: /home/ubuntu/.hr/log/a6d76866-56b5-11e6-b8a8-00163ed4b919/camera-1*.log
Traceback (most recent call last):
File "/home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/scripts/face_predictor.py", line 17, in <module>
from image_scraper import image_scaper
File "/home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/scripts/image_scraper.py", line 13, in <module>
import libxml2
ImportError: No module named libxml2
[camera/face_recognizer-5] process has died [pid 11306, exit code 1, cmd /home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/scripts/face_predictor.py __name:=face_recognizer __log:=/home/ubuntu/.hr/log/a6d76866-56b5-11e6-b8a8-00163ed4b919/camera-face_recognizer-5.log].
log file: /home/ubuntu/.hr/log/a6d76866-56b5-11e6-b8a8-00163ed4b919/camera-face_recognizer-5*.log
Waiting for service /camera/face_recognizer/set_parameters...
libdc1394 error: Failed to initialize libdc1394
Error message of webui in web browser's console log
Hi, all,
I find the webui of the HEAD has some css problem, as I access HEAD in the Chrome Browser, it shows error message in the console log, as following:
1.js:206 Uncaught ReferenceError: specialCssClass is not defined
(anonymous function) @ 1.js:206
bt.extend.each @ 1.js:14
bt.fn.bt.each @ 1.js:14
t.fn.emoticonize @ 1.js:206
t.Message.r.ItemView.extend.onAttach @ 1.js:206
(anonymous function) @ 1.js:27
r.View.e.View.extend.triggerMethod @ 1.js:27
r.triggerMethodOn @ 1.js:27
(anonymous function) @ 1.js:28
x.each.x.forEach @ 1.js:26
r.CollectionView.r.View.extend._triggerMethodMany @ 1.js:28
r.CollectionView.r.View.extend._addChildView @ 1.js:28
r.CollectionView.r.View.extend.addChild @ 1.js:28
r.CollectionView.r.View.extend._onCollectionAdd @ 1.js:28
b @ 1.js:26
v @ 1.js:26
d @ 1.js:26u.trigger @ 1.js:26
n.extend._onModelEvent @ 1.js:26
b @ 1.js:26
v @ 1.js:26
d @ 1.js:26
u.trigger @ 1.js:26
n.extend.set @ 1.js:26
n.extend.add @ 1.js:26
e.CompositeView.extend.voiceRecognised @ 1.js:206
e @ 1.js:206
l.emit @ 1.js:1
_messageCallback @ 1.js:29
l.emit @ 1.js:1
e @ 1.js:29
n @ 1.js:29
onmessage @ 1.js:29
Can someone fix this problem?
Thanks very much!
instructions in main README fail if git not installed.
Following the instructions:
/tmp/hrtool -G
gives an error:
# /tmp/hrtool -G
Warning: Permanently added 'github.com,192.30.253.112' (RSA) to the list of known hosts.
Permission denied (publickey).
/tmp/hrtool: line 355: git: command not found
/tmp/hrtool: line 355: git: command not found
blender not connected
after installing and building everything with hrtool and running "dev.sh", the blender head is static eventhough according to the ocbtree shell face tracking is working and emotions are being published for display.
this is blender version:
biocog@topdog:~/hansonrobotics$ dpkg -l | grep blender
ii blender 2.77-a-1459879952-0thomas~trusty0 amd64 Very fast and versatile 3D modeller/renderer
this is python path:
biocog@topdog:~/hansonrobotics$ echo $PYTHONPATH
/opt/ros/indigo/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages:/home/biocog/opencog/opencog/python:/home/biodata/opencog/opencog/nlp:/home/biodata/opencog/build/opencog/cython:/usr/local/share/opencog/python
this is the error message from the blender shell:
connect failed: No such file or directory
read blend: /home/biocog/hansonrobotics/HEAD/src/blender_api/Sophia.blend
Dependency cycle detected:
deform depends on control through Child Of.
control depends on deform through Locked Track.
Traceback (most recent call last):
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/Sophia.blend/loader.py", line 15, in <module>
register()
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/Sophia.blend/loader.py", line 13, in register
rigControl.init()
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/rigControl/__init__.py", line 47, in init
animationManager.init()
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/rigControl/animationManager.py", line 580, in init
bpy.evaAnimationManager = AnimationManager()
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/rigControl/animationManager.py", line 76, in __init__
self.actuatorManager = ActuatorManager()
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/rigControl/actuators.py", line 83, in __init__
import artistic.actuators
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/artistic/actuators.py", line 2, in <module>
import numpy as np
File "/usr/local/lib/python2.7/dist-packages/numpy/__init__.py", line 180, in <module>
from . import add_newdocs
File "/usr/local/lib/python2.7/dist-packages/numpy/add_newdocs.py", line 13, in <module>
from numpy.lib import add_newdoc
File "/usr/local/lib/python2.7/dist-packages/numpy/lib/__init__.py", line 8, in <module>
from .type_check import *
File "/usr/local/lib/python2.7/dist-packages/numpy/lib/type_check.py", line 11, in <module>
import numpy.core.numeric as _nx
File "/usr/local/lib/python2.7/dist-packages/numpy/core/__init__.py", line 14, in <module>
from . import multiarray
ImportError: /usr/local/lib/python2.7/dist-packages/numpy/core/multiarray.so: undefined symbol: _Py_ZeroStruct
Command Source 'ros' won't build
No Command Sources found
Traceback (most recent call last):
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/rigControl/blenderPlayback.py", line 107, in modal
eva = bpy.evaAnimationManager
AttributeError: module 'bpy' has no attribute 'evaAnimationManager'
location: <unknown location>:-1
location: <unknown location>:-1
Traceback (most recent call last):
File "/home/biocog/hansonrobotics/HEAD/src/blender_api/rigControl/blenderUI.py", line 78, in draw
for i, emo in enumerate(bpy.evaAnimationManager.bones):
AttributeError: module 'bpy' has no attribute 'evaAnimationManager'
location: <unknown location>:-1
location: <unknown location>:-1
/tmp/hrtool -B weirdness
When running /tmp/hrtool -B I get this unexpected message:
# /tmp/hrtool -B
[WARN] The workspace configured /home/hansonrobotics doesn't match the your working path /
Continue using /home/hansonrobotics? [y/N]
I had previously done
/tmp/hrtool -w /home/hansonrobotics
so I would expect that the configured workspace really would be that, and not /
Settings grouping and order
Settings in settings view to be grouped and ordered same way as in rqt.
See chatbot node.
Wild gesticulation in blender
This has been an issue for me, in blender, for many many months, and has not gone away:
When running blender, her head wildly shakes from side to side, turning her nec by more than 45 degrees, 2-3 times per second, constantly, without stopping. When she falls asleep, she continues to do this, but with her eyes closed. Ther does not seem to be any button in the control GUI to stop this: I tried turning everything off, she still does this.
For me, for development, this is worse than useless -- it is impossible to see what she does -- it drowns out face-tracking completely, it makes most facial expressions hard to see -- they're overwhelmed by the side-to-side shaking. It makes it impossible to test verbal commands.
Editing files
README, in the LXC Install, build and run directions. section, suggests installing openssh-server and then running
vi authorized_keys
I never really learned to use vi and prefer text editors with a gui, like gedit.
I can install it from inside the container, but it'd seem I can't run i; it outputs errors when I try:
root@my-hr-HEAD:/home/ubuntu/.ssh# gedit authorized_keys
error: XDG_RUNTIME_DIR not set in the environment.(gedit:15637): Gtk-WARNING **: cannot open display:
I think there're some pretty simple options to running lxc that can be used to make the system in the container aware of the available displays, but I'll probably spend more time researching it myself than if they were posted here.
First chatbot response is gone
In the webui, when you chat with the robot, the first response is not returned. From the chatbot log, the server returns the answer, but it's not shown on webui, and also not sent to tts.
UI Layout Changes
To make current UI more user friendly following needs to be fixed:
- Gestures page needs to be removed. Puppeteering page should become standard home page for UI.
- In pupeteering page: poses and animation sections should be moved to the bottom of their columns as they are rarely used.
- Event Sequence part of performance editor shouldn't be shown as it provides minimal functionality at this moment.
Performance will disable the microphone after it's finished
At the beginning the microphone is on, then when some performance is triggered, after its finished, the microphone gets disabled.
Settings node in timeline
Timeline settings node mixes up views then changing the node.
Can't found tools.jar when building RelEx
ant
Unable to locate tools.jar. Expected to find it in /usr/lib/jvm/java-7-openjdk-amd64/lib/tools.jar
Buildfile: /tmp/link-grammar-5.3.7/build/bindings/java/build.xml
build-subprojects:
init:
[mkdir] Created dir: /tmp/link-grammar-5.3.7/build/bindings/java/bin
[copy] Copying 5 files to /tmp/link-grammar-5.3.7/build/bindings/java/bin
build-project:
[echo] linkgrammar: /tmp/link-grammar-5.3.7/build/bindings/java/build.xml
BUILD FAILED
Chrome speech recognition can't start
The console outputs these:
robot: han
1.js:29 face enabled
1.js:204 starting speech recognition
1.js:204 Uncaught ReferenceError: ROSLIB is not defined(anonymous function) @ 1.js:204(anonymous function) @ 1.js:203_ @ 1.js:203o.onstart @ 1.js:203
More permission-denied errors
Per last-nights email:
after a clean install, and creating a a password for user ubuntu, the install works but the build breaks with this error message:
build-project:
[echo] relex: /home/ubuntu/hansonrobotics/opencog/relex/build.xml
[javac] Compiling 1 source file to /home/ubuntu/hansonrobotics/opencog/relex/bin
jar:
[jar] Building jar: /home/ubuntu/hansonrobotics/opencog/relex/relex-1.6.2.jar
install:
[copy] Copying 1 file to /usr/local/share/java
BUILD SUCCESSFUL
Total time: 2 seconds
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- system
-- thread
-- filesystem
CMake Error: Could not open file for write in copy operation /opt/hansonrobotics/vision/CppMT/cmake_uninstall.cmake.tmp
CMake Error: : System Error: Permission denied
CMake Error at CMakeLists.txt:12 (configure_file):
configure_file Problem configuring file
-- Configuring incomplete, errors occurred!
See also "/opt/hansonrobotics/vision/CppMT/CMakeFiles/CMakeOutput.log".
CMake Error: Cannot open file for write: /opt/hansonrobotics/vision/CppMT/CMakeCache.txt.tmp
CMake Error: : System Error: Permission denied
CMake Error: Unable to open cache file for save. /opt/hansonrobotics/vision/CppMT/CMakeCache.txt
CMake Error: : System Error: Permission denied
ubuntu@hr-HEAD-2:~$
The problem is that the directories /opt/hansonrobotics, and everything in /opt is owned by root, after the /tmp/hrtool -i step.
Fatal ERROR in cmt
The build of CMT fails, and the system is not usable as a result. Ther is a warning just before the fatal error:
Warnings << cmt_tracker:cmake /home/ubuntu/hansonrobotics/HEAD/logs/cmt_tracker/build.cmake.000.log
CUDA_TOOLKIT_ROOT_DIR not found or specified
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:409 (message):
catkin_package() include dir
'/home/ubuntu/hansonrobotics/HEAD/build/cmt_tracker' should be placed in
the devel space instead of the build space
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
CMakeLists.txt:111 (catkin_package)
After this comes the error:
Errors << cmt_tracker:make /home/ubuntu/hansonrobotics/HEAD/logs/cmt_tracker/build.make.000.log
In file included from /home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/src/face_locator_node.cpp:1:0:
/home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/include/face_locator_node.h:46:23: fatal error: Flandmark.h: No such file or directory
#include "Flandmark.h"
^
compilation terminated.
In file included from /home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/src/cmt_tracker_node.cpp:2:0:
/home/ubuntu/hansonrobotics/HEAD/src/vision/cmt_tracker/include/face_locator_node.h:46:23: fatal error: Flandmark.h: No such file or directory
#include "Flandmark.h"
^
compilation terminated.
make[2]: *** [CMakeFiles/face_locator_node.dir/src/face_locator_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/face_locator_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/cmt_tracker_node.dir/src/cmt_tracker_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/cmt_tracker_node.dir/all] Error 2
make: *** [all] Error 2
apt-get failure in lxc
I've tried to create an lxc container on my Ubuntu 16.04. It got created, and I started it and attached to it and tried to follow the instructions from README and to apt-get install openssh-server, but that resulting in a lot of failed to fetch errors.
Trying obvious things showed that such commands as wget, curl or telnet were not found. The best I could manage was a ping.
Did I do anything wrong? Is there an issue with lxc on Ubuntu?
Warnings in icog_face_tracker
There are numerous warnings in the icog face tracker. Please fix!
Warnings << icog_face_tracker:make /home/ubuntu/hansonrobotics/HEAD/logs/icog_face_tracker/build.make.000.log
/home/ubuntu/hansonrobotics/HEAD/src/vision/icog_face_tracker/src/3rdparty/cvblobs/BlobResult.cpp: In member function ‘void CBlobResult::PrintBlobs(char*) const’:
/home/ubuntu/hansonrobotics/HEAD/src/vision/icog_face_tracker/src/3rdparty/cvblobs/BlobResult.cpp:939:112: warning: format ‘%f’ expects a matching ‘double’ argument [-Wformat=]
i, area[i], perimetre[i], externPerimeter[i], perimetreConvex[i], exterior[i], compacitat[i], longitud[i] );
^
/home/ubuntu/hansonrobotics/HEAD/src/vision/icog_face_tracker/src/libopentld/tld/TLD.cpp: In member function ‘void tld::TLD::writeToFile(const char*)’:
/home/ubuntu/hansonrobotics/HEAD/src/vision/icog_face_tracker/src/libopentld/tld/TLD.cpp:441:74: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::vector<tld::NormalizedPatch>::size_type {aka long unsigned int}’ [-Wformat=]
fprintf(file, "%d #Positive Sample Size\n", nn->truePositives->size());
^
/home/ubuntu/hansonrobotics/HEAD/src/vision/icog_face_tracker/src/libopentld/tld/TLD.cpp:460:75: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::vector<tld::NormalizedPatch>::size_type {aka long unsigned int}’ [-Wformat=]
fprintf(file, "%d #Negative Sample Size\n", nn->falsePositives->size());
^
/home/ubuntu/hansonrobotics/HEAD/src/vision/icog_face_tracker/src/libopentld/tld/TLD.cpp:509:53: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::vector<tld::TldExportEntry>::size_type {aka long unsigned int}’ [-Wformat=]
fprintf(file, "%d #numLeaves\n", list.size());
system is confused about torch
I installed by wget /tmp/hrtool,
then hrtool -i
then hrtool -GB.
I can see lines in console during the build saying [WARN] Skipping Torch installation.
When I run .dev/sh
/opt/hansonrobotics/vision/torch/install/bin/torch-activate: no such file or directory
Remove select person area
Remove select person from interaction and puppeteering UI
multiple build errors in HEAD/src/vision/
Some of the build errors are potentially fatal:
HEAD/src/vision/ros_nmpt_saliency/lib/BlockTimer.cpp: In static member function 'static timertype BlockTimer::getCurrentTimeInMicroseconds()':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/BlockTimer.cpp:82:41: warning: integer overflow in expression [-Woverflow]
timertype microsecondsPerDay = 1440*60*1000000;
^
Some are merely warnings:
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/ImagePatch.cpp: In member function 'void ImagePatch::setImage(const IplImage*, int, int)':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/ImagePatch.cpp:211:49: warning: 'void ImagePatch::setImage(const IplImage*, CvRect, int, int)' is deprecated (declared at /home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/ImagePatch.cpp:205) [-Wdeprecated-declarations]
this->setImage(image, roi, setData, setIntegral);
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp: In member function 'virtual std::vector<Feature*> Feature::getSimilarFeatures(int)':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:86:44: warning: 'virtual void Feature::setFeatureParameters(const CvMat*)' is deprecated (declared at /home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:32) [-Wdeprecated-declarations]
retval[i]->setFeatureParameters(newParams);
^
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp: In member function 'void Feature::setRandomParameterValues()':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:118:29: warning: 'virtual void Feature::setFeatureParameters(const CvMat*)' is deprecated (declared at /home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:32) [-Wdeprecated-declarations]
setFeatureParameters(change);
^
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp: In member function 'Feature* Feature::copy() const':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:192:53: warning: 'virtual void Feature::setFeatureParameters(const CvMat*)' is deprecated (declared at /home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:32) [-Wdeprecated-declarations]
patchFeature->setFeatureParameters(this->parameters);
^
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp: In function 'std::istream& operator>>(std::istream&, Feature*&)':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:307:36: warning: 'virtual void Feature::setFeatureParameters(const CvMat*)' is deprecated (declared at /home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/Feature.cpp:32) [-Wdeprecated-declarations]
model->setFeatureParameters(params);
^
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/GentleBoostCascadedClassifier.cpp: In member function 'void GentleBoostCascadedClassifier::setHardNegativeTrainingExamplesFromBGImages()':
/home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/lib/GentleBoostCascadedClassifier.cpp:378:48: warning: 'virtual void GentleBoostCascadedClassifier::setTrainingSet(const std::vector<ImagePatch*>&, const CvMat*)' is deprecated (declared at /home/hansonrobotics/HEAD/src/vision/ros_nmpt_saliency/include/ros_nmpt_saliency/GentleBoostCascadedClassifier.h:263) [-Wdeprecated-declarations]
setTrainingSet(trainingPatches, trainingLabels);
blender, chatserver, and OCBTree error.
current pull builds with no errors. blender head bobs and blinks, but blender tmux shell has this output:
connect failed: No such file or directory
read blend: /home/biocog/hansonrobotics/HEAD/src/blender_api/Sophia.blend
Dependency cycle detected:
deform depends on control through Child Of.
control depends on deform through Locked Track.
Command Source 'ros' won't build
No Command Sources found
and OCBTree crashes:
Listening on port 17020
--- Wake up! Elapsed: 1464272569.251680 seconds
----- Behavior pub: Waking up
Publish soma state: normal intensity: 0.1
GNU Guile 2.0.9
Copyright (C) 1995-2013 Free Software Foundation, Inc.
Guile comes with ABSOLUTELY NO WARRANTY; for details type `,show w'.
This program is free software, and you are welcome to redistribute it
under certain conditions; type `,show c' for details.
Enter `,help' for help.
scheme@(guile-user)> Backtrace:
In ice-9/boot-9.scm:
157: 2 [catch #t #<catch-closure 1802dc0> ...]
In unknown file:
?: 1 [apply-smob/1 #<catch-closure 1802dc0>]
?: 0 [opencog-extension cog-evaluate! ((DefinedPredicateNode "main loop")
)]
ERROR: In procedure opencog-extension:
ERROR: Throw to key `C++-EXCEPTION' with args `("cog-evaluate!" "Expecting a number, got this: (GetLink\n (VariableNode \"$int-min\") ; [1449][1]\n (StateLink\n (ListLink\n (ConceptNode \"wake-up\") ; [609][1]\n (SetLink\n (ListLink\n (NumberNode \"0.600000\") ; [475][1]\n (ConceptNode \"happy\") ; [513][1]\n ) ; [3838][1]\n (ListLink\n (NumberNode \"0.100000\") ; [572][1]\n (ConceptNode \"irritated\") ; [635][1]\n ) ; [3839][1]\n (ListLink\n (NumberNode \"0.300000\") ; [490][1]\n (ConceptNode \"surprised\") ; [446][1]\n ) ; [3840][1]\n ) ; [3841][1]\n (SchemaNode \"duration-min\") ; [460][1]\n ) ; [18446744073709551615][18446744073709551615]\n (VariableNode \"$int-min\") ; [1449][1]\n ) ; [18446744073709551615][18446744073709551615]\n) ; [18446744073709551615][18446744073709551615]\n (/home/biocog/hansonrobotics/opencog/atomspace/opencog/atoms/core/RandomNumber.cc:84)")'.
scheme@(guile-user)>
chatbot shell produces error described in issue #2 .
face tracking works fine. i suspect a ros associated python path issue, possibly related to restapi unit test failure in opencog/opencog
Settings popup
- Add performance option to pause behavior while running. Default selected.
- Should only be one "Save" button in the settings dialog.
Warnings in many_ears
There are numerous warnings in many-ears. Please fix!
Warnings << manyears_ros:make /home/ubuntu/hansonrobotics/HEAD/logs/manyears_ros/build.make.000.log
/home/ubuntu/hansonrobotics/HEAD/src/sound/manyears_ros/src/manyears_node.cpp: In member function ‘bool manyears_ros::ManyEarsNode::parseParams(const ros::NodeHandle&)’:
/home/ubuntu/hansonrobotics/HEAD/src/sound/manyears_ros/src/manyears_node.cpp:162:107: warning: format ‘%i’ expects a matching ‘int’ argument [-Wformat=]
ROS_ERROR("Pos element of microphone %i is not a struct, "
^
/home/ubuntu/hansonrobotics/HEAD/src/sound/manyears_ros/src/manyears_ros.cpp: In constructor ‘manyears_node::many_ears::many_ears(ros::NodeHandle)’:
/home/ubuntu/hansonrobotics/HEAD/src/sound/manyears_ros/src/manyears_ros.cpp:165:140: warning: deprecated conversion from string constant to ‘char*’ [-Wwrite-strings]
outputInit(libraryContext_.myOutputSeparated, libraryContext_.myParameters, NULL, NULL, "/tmp/source_sep_****.wav", '*');
^
/home/ubuntu/hansonrobotics/HEAD/src/sound/manyears_ros/src/manyears_ros.cpp:166:143: warning: deprecated conversion from string constant to ‘char*’ [-Wwrite-strings]
outputInit(libraryContext_.myOutputPostfiltered, libraryContext_.myParameters, NULL, NULL, "/tmp/source_post****.wav", '*');
failed to connect to server
the README says: run ./dev.sh but the script is actually in ./scripts/dev.sh
Currently, when starting it, I get this message:
root@hr-HEAD:/home/hansonrobotics/HEAD# ./scripts/dev.sh
[INFO] Running set_env
HR_WORKSPACE=/home/hansonrobotics
failed to connect to server
ROS launch args "basedir:=/home/hansonrobotics/HEAD/scripts/../src/robots_config/launch/ name:=robot dev:=true"
Can't save timeline after change sometimes
Sometimes I edit the performance with webui's timeline editor, and click "SAVE", I don't see any changes to the file.
cmt tracker fails sporadically during stages when it's adding new users.
I haven't been able to easily reproduce the error easily. But scenario's that i have seen the code fail is when quick succession of new faces to the tracker have been added. I haven't been able to make the code fail in the gdb yet though. I am trying to make that happen.
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