# Hermes robot

Desk robot giving Hermes Agent (on a NixOS or Omarchy host) a camera, microphones, speakers, a
pan/tilt head and an oscilloscope-style face. Hardware: Raspberry Pi 4, Adafruit BrainCraft HAT,
Arducam UC-346 (OV5647), two MG90S servos on GPIO12/13. Software: ROS 2 Jazzy on Ubuntu 24.04 on
the Pi; on the hosts, ROS runs only in podman containers.

**Start with `HANDOFF.md`.** It is the implementation brief: hardware facts, what exists, the
work packages in order, acceptance checks, and the list of unverified assumptions.

- `pi/` and `ros/` run on the robot; `host/` runs on the owner's machines. `CONTEXT.md` tracks where
  the work stands; `HANDOFF.md` is the original brief and has drifted (ROS stays on the Pi, and
  `hermes_mcp` is the only bridge out; see `CONTEXT.md`).
- Package 0a (platform proof) comes before everything; start with `host/check-pi-platform.sh`.
- `docs/face-prototype.html` is the reference for the face renderer; port it, don't ship it.
- `enclosure/` holds the OpenSCAD model and STLs. It was built from estimates; refine it from the
  owner's caliper measurements and test prints before anyone prints the large parts.
- `README.md` is the guide for this build; keep it a guide for a person, and keep `CONTEXT.md` honest.
- The MCP server uses the MCP Python SDK 2.x (`mcp.server.mcpserver.MCPServer`), not 1.x `FastMCP`.
- Ask before rebooting the Pi, upgrading or holding kernel packages, or opening network ports.