19 lines
1.3 KiB
Markdown
19 lines
1.3 KiB
Markdown
# Hermes robot
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Desk robot giving Hermes Agent (on a NixOS or Omarchy host) a camera, microphones, speakers, a
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pan/tilt head and an oscilloscope-style face. Hardware: Raspberry Pi 4, Adafruit BrainCraft HAT,
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Arducam UC-346 (OV5647), two MG90S servos on GPIO12/13. Software: ROS 2 Jazzy on Ubuntu 24.04 on
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the Pi; on the hosts, ROS runs only in podman containers.
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**Start with `HANDOFF.md`.** It is the implementation brief: hardware facts, what exists, the
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work packages in order, acceptance checks, and the list of unverified assumptions.
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- `pi/` and `ros/` run on the robot; `omarchy/` (to become `host/`) runs on the owner's machines.
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- Package 0a (platform proof) comes before everything; start with `host/check-pi-platform.sh`.
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- `docs/face-prototype.html` is the reference for the face renderer; port it, don't ship it.
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- `enclosure/` holds the OpenSCAD model and STLs. It was built from estimates; refine it from the
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owner's caliper measurements and test prints before anyone prints the large parts.
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- `README.md` still describes the earlier Pi Zero build until package 7 rewrites it.
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- The MCP server uses the MCP Python SDK 2.x (`mcp.server.mcpserver.MCPServer`), not 1.x `FastMCP`.
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- Ask before rebooting the Pi, upgrading or holding kernel packages, or opening network ports.
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