OpenHRI Japanese Manual

OpenHRIversion 1.0

Yosuke Matsusaka

November 08, 2011

ContentsOpenHRI Step1: Windows Ubuntu GUI Step2: RTSystemEditor RT-SystemEditor Step3: Step4: Step5: W3C-SRGS W3C-PLS SEAT: Soar: General Artificial Intelligence 1 1 1 1 1 3 3 3 5 5 6 10 10 11 12 14 14 15 16 18 18 19 19 19 20 20 20 21 21 21 22 22 22 22 22 23 23 24 24 24

Windows Ubuntu BlocksWorld Kinect OpenHRIAudio PulseAudioInput Usage Ports Configuration parameters PulseAudioOutput Usage Ports Configuration parameters PortAudioInput Usage Ports Configuration parameters PortAudioOutput Usage Ports Configuration parameters

25 25 25 25 25 26 26 28 28 28 28 29 29 29 29 29 29 29 30 30 30 30 31 33 33 33 33 33 34 34 34 34 34 35 35 35 35 36 36 36 36 36

NoiseReduction Usage Ports Configuration parameters EchoSuppressor Usage Ports EchoCanceler Usage Ports CombFilter Usage Ports Configuration parameters AutoGainControl Usage Ports Configuration parameters DSArray Usage Ports Configuration parameters BeamForming Usage Ports Configuration parameters Mixer Usage Ports Configuration parameters SignalGeneration Usage Ports Configuration parameters WavRecord Usage Ports Configuration parameters OpenHRIVoice JuliusRTC Ports

37 37 37 37 37 38 38 38 38 38 39 39 39 39 40 40 40 40 40 41 41 41 41 41 41 42 42 42 42 43 43 43 43 44 44 44 44 44 45 45 45 45

Configuration parameters FestivalRTC Ports Configuration parameters OpenJTalkRTC Ports Configuration parameters XSLTRTC Ports validatesrgs srgstopls plstosinglewordgrammar srgstojulius juliustographviz bundlexinclude SEATSAT SEAT Ports Configuration parameters SoarRTC Ports validateseatml seatmltosrgs seatmltographviz OpenHRIWeb JabberRTC Usage Ports Configuration parameters WebServerRTC Usage Ports Configuration parameters XMLtoJSONRTC Usage Ports OpenHRIAudio

46 46 46 46 47 47 47 48 48 48 48 48 49 49 49 49 50 50 50 50 50 50 51 51 51 51 52 52 52 52 52 52 53 53 53 53 54 54 54 54 54 55

OpenHRIVoice

55 55

OpenHRI

OpenHRIOpenHRI

Step1: OpenHRI:

WindowsURL http://openhri.net/getinstaller.php OpenHRIAudioOpenHRIVoiceSEATSAT 1. Japanese[OK]

2. [(N)]

3. [(A)]

1

OpenHRI

4. [(N)]

5. C:Program FilesOpenHRIAudio [(R)] []

6. [(N)]

7. [(F)]

2

Ubuntu

OpenHRIAudioOpenHRIVoiceSEATSAT Step2: RTSystemEditor

Ubuntu: $ sudo apt-add-repository ppa:openhri/ppa $ sudo apt-get update $ sudo apt-get install openhriaudio openhrivoice seatsat Step2: RTSystemEditor

GUIOpenHRISynaptic 1. Synaptic 2. S)R()

3

Ubuntu

3. APT line:: deb http://ppa.launchpad.net/openhri/ppa/ubuntu lucid main A

ubuntu 10.04OpenHRIubuntu 10.04

4.

5. "openhriaudio""openhrivoic e""seatsat"

4

Step2: RTSystemEditor

Step2: RTSystemEditor Step2: RTSystemEditor.


1. RT-SystemEditoreclipse a. Ubuntu: http://openrtm.org/openrtm/en/node/945 b. WindowsOpenRTM-aist-Python: http://openrtm.org/openrtm/ja/node/932#toc3 2. PC 3. rtc.conf

5

RT-SystemEditor RTC "rtc.conf" "rtc. conf" corba.nameservers: localhost:9876 naming.formats: %n.rtc logger.file_name:stdout Windowsrtc.conf 4. rtc.conf 9876 $ rtm-naming 9876

5. RT-SystemEditor

RT-SystemEditorRT-SystemEditor 1. AudioInputAudioOutput

UbuntuUubuntu Ubuntu9.10 PulseAudioInputPulseAudioOutput PortAudioInp utPortAudioOutput Ubuntu9.10 $ pulseaudioinput $ pulseaudiooutput $ portaudioinput $ portaudiooutput

6

RT-SystemEditor

2. RT-SystemEditor

3. rtc.conf localhost:9876

7

RT-SystemEditor

4.

5. AudioInputAudioOutput

6.

8

RT-SystemEditor

OK

9

7. RTC All Activate RTC

AudioInputAudioOutput

8. Step2RT-SystemEditor Step3:

Step3: 10

1. #!/usr/bin/env python # -*- coding: utf-8 -*import sys import time import OpenRTM_aist import RTC consolein_spec = ["implementation_id", "ConsoleIn", "type_name", "ConsoleIn", "description", "Console input component", "version", "1.0", "vendor", "sample", "category", "example", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "Python", "lang_type", "script", ""] class ConsoleIn(OpenRTM_aist.DataFlowComponentBase): def __init__(self, manager): OpenRTM_aist.DataFlowComponentBase.__init__(self, manager) self._data = RTC.TimedString(RTC.Time(0,0),"") self._outport = OpenRTM_aist.OutPort("out", self._data) def onInitialize(self): self.registerOutPort("out", self._outport) return RTC.RTC_OK def onExecute(self, ec_id): self._data.data = "testing" OpenRTM_aist.setTimestamp(self._data) self._outport.write() time.sleep(5) return RTC.RTC_OK def MyModuleInit(manager): profile = OpenRTM_aist.Properties(defaults_str=consolein_spec) manager.registerFactory(profile, ConsoleIn, OpenRTM_aist.Delete) comp = manager.createComponent("ConsoleIn") def main(): mgr = OpenRTM_aist.Manager.init(sys.argv) mgr.setModuleInitProc(MyModuleInit) mgr.activateManager() mgr.runManager() if __name__ == "__main__": main() ConsoleIn 2. rtc.conf

11


1. ConsoleInOpenJTalk % python ConsoleIn.py % openjtalkrtc RT SystemEditor

2. RT-SystemEditorConsoleInOpenJTalk

3. AudioInput-AudioOutput

12

Delete"Delete"

4. ConsoleInOpenJTalkAudioOutput ConsoleInOpenJTalk OpenJTalkresultAudioOutput ()

5. "All Activate" ConsoleIn 13

Step4: Step4:

Step4:

1. UTF-8 sample.xml Windows [] [][UTF-8]

14

2. sample.seatml 3. rtc.conf Step2: RTSystemEditor

1. SEATJulius Julius1.sample.xml $ juliusrtc sample.xml SEAT2.sample.seatml $ seat sample.seatml RT System Editor

15

Step5:

2. RT System EditorSEATJulius 3. ConsoleInOpenJTalk AudioInputJulius JuliusresultSEAT SEATOpenJTalk

4. "All Activate"

: Julius Warning: strip Step5:

Step5:

16

Step5: sample2.seatml hello bye SEATCtrl+C % seat sample2.seatml

ConsoleOut.py #!/usr/bin/env python # -*- coding: utf-8 -*import sys import time import OpenRTM_aist import RTC consoleout_spec = ["implementation_id", "ConsoleOut", 17

"type_name", "ConsoleOut", "description", "Console output component", "version", "1.0", "vendor", "sample", "category", "example", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "Python", "lang_type", "script", ""] class ConsoleOut(OpenRTM_aist.DataFlowComponentBase): def __init__(self, manager): OpenRTM_aist.DataFlowComponentBase.__init__(self, manager) self._data = RTC.TimedString(RTC.Time(0,0),"") self._inport = OpenRTM_aist.InPort("in", self._data) def onInitialize(self): # Set OutPort buffer self.registerInPort("in", self._inport) return RTC.RTC_OK def onExecute(self, ec_id): while self._inport.isNew(): data = self._inport.read() print "command : %s" % data.data time.sleep(0.1) return RTC.RTC_OK def MyModuleInit(manager): profile = OpenRTM_aist.Properties(defaults_str=consoleout_spec) manager.registerFactory(profile, ConsoleOut, OpenRTM_aist.Delete) comp = manager.createComponent("ConsoleOut") def main(): mgr = OpenRTM_aist.Manager.init(sys.argv) mgr.setModuleInitProc(MyModuleInit) mgr.activateManager() mgr.runManager() if __name__ == "__main__": main()

OpenHRIJuliusW3C-SRGS

18

W3C-SRGS W3C-SRGSOpenHRI

W3C-SRGSW3C-SRGS(Speech Recognition Grammar Specification) 1XML

lexicon W3C-PLS()URI rule ID IDJulius item repeat one-of ruleref uri

19

W3C-PLS

W3C-PLSW3C-PLS(Pronunciation Lexicon Specification)1 XML

lexeme grapheme phoneme

{{x-KANA|}} {{x-KANA|}} {{x-KANA|}} {{x-KANA|}} {{x-KANA|}} {{x-KANA|}}

20

{{x-KANA|}} {{x-KANA|}} {{x-KANA|}} {{x-KANA|}} {{x-KANA|}} {{x-KANA|}}

"validatesrgs"W3C-SRGS : $ validatesrgs [grammarfile] : $ validatesrgs sample-en.grxml Validating SRGS file sample-en.grxml... SRGS file is valid. Validating PLS file sample-lex-en.xml... PLS file is valid. :

$ validatesrgs sample-invalid.grxml Validating SRGS file sample-invalid.grxml... [error] Invalid SRGS file. Element '{http://www.w3.org/2001/06/grammar}one-of': Missing child element(s). Expected is ( {http://www.w3.org/2

OpenHRIW3C-SRGS "juliustographviz" : $ srgstojulius sample-jp.grxml | juliustographviz | dot -Txlib :

21

W3C-SRGSW3C-PLS OpenHRIW3C-SRGSW3C-PLS "srgstopls": $ srgstopls sample-jp.grxml > sample-lex-jp.xml (julius-voxforge)(julius-runkit)

XML XML

OpenHRI2

SEAT: SEAT (Speech Event Action Transfer) XML

SEAT(RTM) general agent "type""rtcin""rtcout""socket" "rtcin" "rtcout""datatype" (RTM ) "socket""host" "port"

22

state rule key command statetransition

CLOSE OPEN

"validateseatml"SEATML :

23

$ validateseatml [scriptfile] : $ validateseatml sample-jp.seatml validating script file sample-jp.seatml... script file is valid. : $ validateseatml sample-invalid.seatml validating script file sample-invalid.seatml... [error] invalid script file. Element 'transition': This element is not expected. Expected is one of ( command, statetransition )., line 23

OpenHRISEATML "seatmltographviz" : $ seatmltographviz sample-jp.seatml | dot -Txlib :

Soar: General Artificial IntelligenceSoar ( http://sitemaker.umich.edu/soar/home ) AI1 OpenHRIRTMSoar ()

OpenHRI

24

Windows1. OpenHRIWorlds URL http://openhri.net/getinstaller.php OpenHRIWorlds 2. OpenHRPSDK OpenHRP SDK Windows http://openrtp.info/openhrp3/jp/download.html

UbuntuUbuntu

BlocksWorldBlocksWorldPA10

1. OpenHRP C:\Program Files (x86)\OpenHRPSDK\GrxUIGrxUI.exe

2. BlocksWorld

25

> OpenHRI > worldsBlocksWorld OpenHRPPA10

BlocksWorld BlocksWorld 1. OpenHRP GrxUI > C:\Program Files (x86)\OpenHRPSDK\share\OpenHRP-3.1\sample\project PA10Sa mple 2. OpenHRP 3. OpenHRP GrxUI > 4. BlocksWorld BlocksWorld

BlocksWorldcommand grasp release moveHandToBox [name] [name]box1box2box3 moveHandXY [X] [Y] [X][Y]

PA10 1.

26

2. grasp release [] moveHandToBox box1 [] moveHandToBox box2 [] moveHandToBox box3 moveHandXY 0.1 0.0 moveHandXY -0.1 0.0 27

moveHandXY 0.0 0.1 moveHandXY 0.0 -0.1 moveHandXY 0.05 0.0 moveHandXY -0.05 0.0 moveHandXY 0.0 0.05 moveHandXY 0.0 -0.05 JuliusSEATSEATcommand BlocksWorldcommand

OpenHRI

OpenHRI2

28

Step4:

AudioInputJuliusRTC AudioInputEchoSuppressorfrom_input AudioOutputEchoSuppressorfrom_output EchoSuppressorJuliusRTC

All Activate

OpenHRIAudioDSArray

OpenHRIAudioBeamForming

29

Kinect

KinectkinectHPKinectSDKWindows7 PortAudioInput PortAudioOutput DSArray BeamForming 4 "micset.csv" OpenHRIAudioKinect"micset.csv" PortAudioInputDSArrayBeamForming2 DSArray BeamForming BeamFormingPortAudioOutput

AudioInputDSArrayBeamForming"4" (16kHz,16bit) BeamForming"Mode" Const "ConstAngle" Variable "angle"DSArray

Contents:

SEAT

30

one-of flaggame-ja.grxml : $ srgstojulius flaggame-ja.grxml | juliustographviz | dot -Txlib

4:

31

SEATXML flaggame-ja.seatml left_up right_up right_up left_up both_down both_up both_up both_down

32

: $ seatmltographviz flaggame-ja.seatml | dot -Txlib

audioinput audiooutputjulius openjtalkSEAT $ pulseaudioinput (portaudioinput) $ pulseaudioutput (portaudiooutput) $ juliusrtc flaggame-ja.grxml $ seat flaggame-ja.seatml RT-SystemEditor audioinput -> julius julius (result) -> SEAT SEAT -> openjtalk openjtalk (result) -> audiooutput SEAT

OpenHRIAudioPulseAudioInputPulseAudio Vendor: Version: Category: AIST 1.08 communication

Usage$ pulseaudioinput

33

Ports

Ports

PortsName GainDataIn AudioDataOut Type DataInPort DataOutPort DataType TimedLong TimedOctetSe q Description

GainDataIn

PulseAudioInput

AudioDataOut

Configuration parameters

Configuration parametersName InputSampleRate InputChannelNumbers InputSampleByte Description

PulseAudioOutputPulseAudio Vendor: Version: Category: AIST 1.08 communication

Usage$ pulseaudiooutput

Ports

PortsName AudioDataIn AudioDataOut Type DataInPort DataOutPort DataType TimedOctetSe q TimedOctetSe q Description

34


AudioDataIn

PulseAudioOutput

AudioDataOut


Configuration parametersName OutputChannelNumber s OutputSampleByte BufferLength OutputSampleRate Description

PortAudioInputPulseAudio Vendor: Version: Category: AIST 1.08 communication

Usage$ portaudioinput

Ports

PortsName GainDataIn AudioDataOut Type DataInPort DataOutPort DataType TimedLong TimedOctetSe q Description

GainDataIn

PortAudioInput

AudioDataOut

35



Configuration parametersName InputSampleRate InputChannelNumbers InputSampleByte Description

PortAudioOutputPortAudio Vendor: Version: Category: AIST 1.08 communication

Usage$ portaudiooutput

Ports


AudioDataIn

PortAudioOutput

AudioDataOut


Configuration parametersName DelayCount OutputChannelNumber s OutputSampleByte Description

36

NoiseReduction

OutputSampleRate

NoiseReductionFFT/IFFT Vendor: Version: Category: AIST 1.08 communication

Usage$ noisereduction

Ports


AudioDataIn

NoiseReduction

AudioDataOut


Configuration parametersName FrequencyMin Power ModeSelect FrequencyMax CenterFrequency SampleRate premp=deemp= bpf= Description

EchoSuppressor Vendor: AIST

37

Usage Version: Category: 1.08 communication

Usage$ echosuppressor

Ports

PortsName AudioDataIn ReferenceAudi oDataIn AudioDataOut Type DataInPort DataInPort DataOutPort DataType TimedOctetSe q TimedOctetSe q TimedOctetSe q Description

AudioDataIn EchoSuppressor ReferenceAudioDataIn AudioDataOut

EchoCanceler Vendor: Version: Category: AIST 1.08 communication

Usage$ echocanceler

Ports

PortsName AudioDataIn Type DataInPort DataType TimedOctetSe q Description

38

CombFilter

ReferenceAudi oDataIn AudioDataOut

DataInPort DataOutPort

TimedOctetSe q TimedOctetSe q

AudioDataIn EchoCanceler ReferenceAudioDataIn AudioDataOut

CombFilter Vendor: Version: Category: AIST 1.08 communication

Usage$ combfilter

Ports


AudioDataIn

CombFilter

AudioDataOut



39

AutoGainControl

Name SampleRate Frequency Gain ChannelNumbers [1>=x>=-1]

Description

AutoGainControl Vendor: Version: Category: AIST 1.08 communication

Usage$ autogaincontrol

Ports

PortsName AudioDataIn AudioDataOut Type DataInPort DataOutPort DataType TimedOctetSe q TimedLong Description

AudioDataIn

AutoGainControl

AudioDataOut


Configuration parametersName GainCtlSampleByte InputSampleByte AutomaticGainControl InputChannelNumbers Description

DSArray

40

Usage Vendor: Version: Category: AIST 1.08 communication

Usage$ dsarray

Ports

PortsName mic result Type DataInPort DataOutPort DataType TimedOctetSe q TimedDouble Description

mic

DSArray

result


Configuration parametersName SampleRate ChannelNumbers Description

BeamForming Vendor: Version: Category: AIST 0.0.1 communication

Usage$ beamforming

Ports

Ports

41


Name mic angle result

Type DataInPort DataInPort DataOutPort

DataType TimedOctetSe q TimedDouble TimedOctetSe q

Description

mic BeamForming angle result


Configuration parametersName SampleRate ConstAngle Mode ChannelNumbers Description [deg]

Mixer Vendor: Version: Category: AIST 1.08 communication

Usage$ mixer

Ports


42


ReferenceAudi oDataIn AudioDataOut

DataInPort DataOutPort

TimedOctetSe q TimedOctetSe q

AudioDataIn Mixer ReferenceAudioDataIn AudioDataOut


Configuration parametersName OutputChannelNumber s MixGains Description

SignalGeneration Vendor: Version: Category: AIST 1.08 communication

Usage$ signalgeneration

Ports

PortsName AudioDataOut Type DataOutPort DataType TimedOctetSe q Description

43


SignalGeneration

AudioDataOut


Configuration parametersName Mode Frequency Gain OutputSampleRate Description

WavRecord Vendor: Version: Category: AIST 1.08 communication

Usage$ wavrecord

Ports


AudioDataIn

WavRecord


44

OpenHRIVoice

Configuration parametersName SampleRate FileName ChannelNumbers Description

OpenHRIVoiceJuliusRTCJulius Vendor: Version: Category: AIST 1.05 communication

Ports

PortsName data activegrammar status Type DataInPort DataInPort DataOutPort DataType TimedOctetSe q TimedString TimedString Description ID ('LISTEN []', 'STARTRE C []', 'ENDREC []', 'R EJECTED []') XML

result log

DataOutPort DataOutPort

TimedString TimedOctetSe q

status data JuliusRTC activegrammar log result

45



Configuration parametersName phonemodel voiceactivitydetection language Description

FestivalRTC Vendor: Version: Category: AIST 1.05 communication

Ports

PortsName text result status duration Type DataInPort DataOutPort DataOutPort DataOutPort DataType TimedString TimedOctetSe q TimedString TimedString ('started''finished') Description

result FestivalRTC

text

status

duration


Configuration parametersName Description

46

OpenJTalkRTC

rate character format

16kHz 16bit

OpenJTalkRTC Vendor: Version: Category: AIST 1.05 communication

Ports

PortsName text result status duration Type DataInPort DataOutPort DataOutPort DataOutPort DataType TimedString TimedOctetSe q TimedString TimedString ('started''finished') Description

result OpenJTalkRTC

text

status

duration


Configuration parametersName rate character format 16bit Description 16kHz

47

XSLTRTC

XSLTRTCXSLTXML Vendor: Version: Category: AIST 1.05 communication

Ports

PortsName text result Type DataInPort DataOutPort DataType TimedString TimedString Description XML XML

text

XSLTRTC

result

validatesrgsUsage: validatesrgs [grammarfile] SRGS Options: --version -h, --help -v, --verbose -g, --gui Examples: SRGS $ validatesrgs sample.grxml GUI

srgstoplsUsage: srgstopls [grammarfile] W3C-SRGSW3C-PLS Options: --version -h, --help -v, --verbose -r TARGETRULE, --target-rule=TARGETRULE -g, --gui ID GUI

48

plstosinglewordgrammar Examples: W3C-SRGSW3C-PLS $ srgstopls sample.grxml > sample-lex.xml

plstosinglewordgrammarUsage: plstosinglewordgrammar [lexiconfile] W3C-PLSW3C-SRGS Options: --version -h, --help -v, --verbose Examples: PLSSRGS $ plstosinglewordgrammar sample-lex.xml > sample.grxml

srgstojuliusUsage: srgstojulius [grammarfile] W3C-SRGSJulius Options: --version -h, --help -v, --verbose -r TARGETRULE, --target-rule=TARGETRULE Examples: W3C-SRGSJulius $ srgstojulius sample.grxml > sample.julius ID

juliustographvizUsage: juliustographviz < [julius grammar] Julius Options: --version -h, --help -v, --verbose Examples: SRGS $ srgstojulius sample.grxml | juliustographviz | dot -Txlib

bundlexincludeUsage: bundlexinclude [grammarfile] xincludeXML Options: --version

49

SEATSAT -h, --help -v, --verbose

SEATSATSEATSEAT(Speech Event Action Transfer) SEAT: 1. 2. 3. (OpenRTM, BSD socket). Vendor: Yosuke Matsusaka and Isao Hara, AIST Version: 1.03 Category: Speech

Ports

PortsName speechin speechout Type DataInPort DataOutPort DataType TimedString TimedString Description

speechin

SEAT

speechout


Configuration parametersName scriptfile Description

SoarRTCSoar Vendor: Version: AIST 1.03

50

Ports Category: communication

Ports

PortsName inport0 outport0 command Type DataInPort DataOutPort DataOutPort DataType TimedString, A ny TimedString, A ny TimedString Description

outport0 inport0 SoarRTC command

validateseatmlUsage: validateseatml [seatmlfile] SEAT Options: --version -h, --help -v, --verbose -g, --gui Examples: SEAT $ validateseatml sample.seatml GUI

seatmltosrgsUsage: seatmltosrgs [seatmlfile] SEATW3C-SRGS Options: --version -h, --help -v, --verbose

51

seatmltographviz Examples: SEATSRGS $ seatmltosrgs sample.seatml > sample.grxml

seatmltographvizUsage: seatmltographviz [seatmlfile] SEAT Options: --version -h, --help -v, --verbose Examples: SEAT $ seatmltographviz sample.seatml | dot -Txlib

OpenHRIWebJabberRTCRTCJabber(XMPP)Jab bergoogle talk Vendor: Version: Category: AIST 1.00 communication

UsageTo run this component: $ jabberrtc Examples: See https://github.com/yosuke/OpenHRIWeb/tree/master/examples/jabberrtc

Ports

PortsName text message status Type DataInPort DataOutPort DataOutPort DataType TimedStringSe q TimedStringSe q TimedStringSe q Description TimedStringSeq['', '1' , '2', ...] TimedStringSeq['', ' '] TimedStringSeq['', '']

52


message text JabberRTC status


Configuration parametersName password id Description Jabber JabberID: [email protected]

WebServerRTCRTCHTTP Vendor: Version: Category: Yosuke Matsusaka, AIST 1.00 Web

UsageTo run this component: $ webserverrtc Examples: See https://github.com/yosuke/OpenHRIWeb/tree/master/examples/webserverrtc

Ports

PortsName indata outdata Type DataInPort DataOutPort DataType TimedString TimedString Description javascriptURL [/rtc/indata] javascriptURL [/rtc/outdata]

53


indata

WebServerRTC

outdata


Configuration parametersName port documentroot HTTP6809 html: /var/www Description

XMLtoJSONRTCXMLJSON Vendor: Version: Category: AIST 1.00 communication

UsageTo run this component: $ xmltojsonrtc

Ports

PortsName text result Type DataInPort DataOutPort DataType TimedString TimedString Description XML JSON

text

XMLtoJSONRTC

result

OpenHRIgithubUbuntu

54

OpenHRIAudio

OpenHRIAudioOpenHRIAudioconfigureC++ :

$ sudo apt-get install autotools-dev pkg-config omniidl4 uuid-dev libomniorb4-dev libspeex-dev libspeexdsp-dev libres : $ git clone https://[email protected]/yosuke/OpenHRIAudio.git configure: $ cd OpenHRIAudio $ ./autogen.sh configure: $ ./configure $ make : $ sudo make install $ sudo ldconfig

OpenHRIVoiceOpenHRIVoicesetupPython : $ sudo apt-get install python-beautifulsoup python-lxml python-matplotlib openrtm-aist-python : $ git clone https://[email protected]/yosuke/OpenHRIVoice.git : $ cd OpenHRIVoice $ sudo python setup.py install

OpenHRIEclipse Public License (EPL) http://www.eclipse.org/legal/epl-v10.html EPL OpenHRIJuliusOpen JTalk

55

Documents

OpenHRI Japanese Manual