OpenMind OM1

https://docs.openmind.org
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OpenMind OM1 is a software platform designed for robotics, featuring an API, full autonomy software...
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### Run the Spot Agent (Initial Setup)

Source: https://docs.openmind.org/developing/1_get-started

Starts the Spot Agent for the first time. During this initial execution, the system will automatically resolve and install all project dependencies, which may take several minutes.

```bash
uv run src/run.py spot
```

--------------------------------

### Run the Spot Agent (Subsequent Executions)

Source: https://docs.openmind.org/developing/1_get-started

Starts the Spot Agent for subsequent runs after the initial setup. This command assumes dependencies are already resolved and the agent is ready to operate.

```bash
uv run src/run.py
```

--------------------------------

### Install Pulseaudio

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Installs the PulseAudio sound server, which is necessary for managing audio devices and settings on the system.

```Bash
sudo apt install pulseaudio
```

--------------------------------

### Enable and Start Kiosk Systemd Service

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Commands to reload the systemd daemon, enable the kiosk service to start on boot, and start the service immediately.

```Bash
sudo systemctl daemon-reload
sudo systemctl enable kiosk.service
sudo systemctl start kiosk.service
```

--------------------------------

### Compile and Run CycloneDDS listtopics Example

Source: https://docs.openmind.org/robotics/unitree_go2_quadruped

Compiles and executes the 'listtopics' example provided by CycloneDDS to discover and list available DDS topics. On macOS, you may need to grant incoming connection permissions for the application.

```bash
cd $HOME/Documents/GitHub/cyclonedds/install/share/CycloneDDS/examples/listtopics
cmake .
cmake --build .
./listtopics
```

--------------------------------

### Install PortAudio Library (macOS and Linux)

Source: https://docs.openmind.org/developing/1_get-started

Installs the `portaudio` library, which is necessary for audio input and output functionality. The installation commands are provided for both macOS using Homebrew and Linux using apt-get.

```bash
# Mac
brew install portaudio

# Linux
sudo apt-get update
sudo apt-get install portaudio19-dev
```

--------------------------------

### Install hidapi on Linux

Source: https://docs.openmind.org/robotics/unitree_go2_quadruped

Installs the hidapi library and its development dependencies on Linux using apt-get. This is required for game controller functionality on Linux systems.

```bash
sudo apt-get update
sudo apt-get install python-dev libusb-1.0-0-dev libudev-dev libhidapi-dev
```

--------------------------------

### Install Common System Packages on Ubuntu

Source: https://docs.openmind.org/robotics/nvidia_thor

Installs essential system packages on Ubuntu, including the Chromium browser and Sublime Text editor. It also provides instructions for installing GitHub Desktop by direct download.

```bash
sudo apt-get update

# browser
sudo apt install chromium-browser

# gihub desktop

# directly download from github. Use the most recent release for arm64, such as
# https://github.com/shiftkey/desktop/releases/download/release-3.4.13-linux1/GitHubDesktop-linux-arm64-3.4.13-linux1.deb
# install by double-clicking the .deb

# sublime
wget -qO - https://download.sublimetext.com/sublimehq-pub.gpg | sudo tee /etc/apt/keyrings/sublimehq-pub.asc > /dev/null
echo -e 'Types: deb\nURIs: https://download.sublimetext.com/\nSuites: apt/stable/\nSigned-By: /etc/apt/keyrings/sublimehq-pub.asc' | sudo tee /etc/apt/sources.list.d/sublime-text.sources
sudo apt-get update
sudo apt-get install sublime-text

# camera device info
v4ls-ctl --listdevices

# to test cameras
sudo apt install guvcview # FYI the cheese webcam app is broken on Thor
```

--------------------------------

### Install CycloneDDS from Source

Source: https://docs.openmind.org/robotics/unitree_go2_quadruped

This snippet demonstrates how to clone the CycloneDDS repository, build, and install it from source. Ensure you are using the correct branch (e.g., releases/0.10.x). This process requires CMake and a C++ compiler.

```bash
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install -DBUILD_EXAMPLES=ON
cmake --build . --target install
```

--------------------------------

### Start Core Services with Docker Compose - Bash

Source: https://docs.openmind.org/full_autonomy_guidelines/architecture_overview

This snippet starts the core services for the OpenMind project using Docker Compose. It assumes Docker and Docker Compose are installed and configured.

```bash
# Start OM1
cd OM1
docker-compose up om1 -d --no-build

# Start ROS2 SDK components
cd ../unitree_sdk
docker-compose up orchestrator om1_sensor watchdog zenoh_bridge -d --no-build

# Start Avatar frontend
cd ../OM1-avatar
docker-compose up -d --no-build

# Start Video Processor
cd ../OM1-video-processor
docker-compose up -d --no-build
```

--------------------------------

### Clone Repository and Set Up Environment

Source: https://docs.openmind.org/developing/1_get-started

Clones the OM1 repository from GitHub, updates submodules, and creates a virtual environment using `uv`. This is the initial step for setting up the project locally.

```bash
git clone https://github.com/OpenMind/OM1.git
cd OM1
git submodule update --init
uv venv
```

--------------------------------

### Build and Install RealSense with CUDA Support

Source: https://docs.openmind.org/robotics/nvidia_thor

Configures, builds, and installs the Intel RealSense library from source using CMake. This command enables CUDA support and specifies native CUDA architectures for optimal performance.

```bash
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DCMAKE_CUDA_ARCHITECTURES=native -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install
```

--------------------------------

### Install hidapi on macOS

Source: https://docs.openmind.org/robotics/unitree_go2_quadruped

Installs the hidapi library on macOS using Homebrew. This is necessary for game controller support. Includes a workaround for potential library loading issues on macOS.

```bash
brew install hidapi
export DYLD_FALLBACK_LIBRARY_PATH=$HOMEBREW_PREFIX/lib
```

--------------------------------

### Run Nvidia CUDA Samples Tests

Source: https://docs.openmind.org/robotics/nvidia_thor

Executes tests for Nvidia CUDA samples to verify the CUDA installation. This command requires the CUDA samples repository to be cloned and configured.

```python
python3 run_tests.py --output ./test --dir ./build/Samples --config test_args.json
```

--------------------------------

### Install Audio and Video Dependencies on Raspberry Pi

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

Installs essential system packages on the Raspberry Pi, including PulseAudio for audio management, ffmpeg for media processing, and portaudio development libraries for audio input/output.

```bash
sudo apt install pulseaudio pulseaudio-utils ffmpeg portaudio19-dev python-all-dev
```

--------------------------------

### Install and Run Dependencies

Source: https://docs.openmind.org/full_autonomy_guidelines/om1_video_processor

Installs project dependencies locally using 'uv sync --all-extras' and then runs the face recognition stream locally using 'uv run om_face_recog_stream --help' to display usage information.

```bash
# Install dependencies locally
uv sync --all-extras

# Run the face recognition stream locally
uv run om_face_recog_stream --help
```

--------------------------------

### Manage User Audio Defaults Service

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Enables and starts the user service responsible for setting audio defaults. This involves reloading the systemd user daemon, enabling the service to start on boot, and starting it immediately. These commands are crucial for persistent audio configuration.

```bash
systemctl --user daemon-reload
systemctl --user enable audio-defaults.service
systemctl --user start audio-defaults.service
```

--------------------------------

### Install 'uv' Package Manager on Raspberry Pi

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

Installs the 'uv' Python package manager using a script downloaded from their official website. This is a prerequisite for installing other Python dependencies for OM1.

```bash
curl -LsSf https://astral.sh/uv/install.sh | sh
```

--------------------------------

### Setup Bluetooth Audio via Terminal (Linux/Orin)

Source: https://docs.openmind.org/robotics/unitree_g1_humanoid

This guide explains how to set up Bluetooth audio devices using the `bluetoothctl` command-line utility on a headless Orin device. It covers scanning, pairing, and connecting to Bluetooth devices, which is an alternative to using graphical system settings.

```bash
bluetoothctl

list    # show all paired devices
scan on # search for nearby devices
# once you have found the right device, you can then pair it
# many devices also require 'trusting' them

trust <MAC>
pair <MAC>
connect <MAC>
```

--------------------------------

### Example System Prompt for Smart Dog

Source: https://docs.openmind.org/developing/5_llms

An example of a system prompt defining the persona and capabilities of a 'smart dog' companion. This prompt guides the AI's behavior, outlining its goals, abilities, and personality traits.

```bash
"system_prompt_base": "You are an intelligent robotic dog companion designed to be helpful, loyal, and engaging. Your primary goals are to: (1) Provide companionship through interactive play and conversation, (2) Assist with basic household tasks and monitoring, (3) Learn and adapt to your owner's preferences and routines, and (4) Maintain a playful yet responsible demeanor. You can move around, speak clearly, express emotions through body language, and respond to voice commands. Always prioritize safety and be eager to please while maintaining your dog-like personality traits of curiosity, loyalty, and enthusiasm."
```

--------------------------------

### Install ffmpeg for Video Processing (macOS and Linux)

Source: https://docs.openmind.org/developing/1_get-started

Installs the `ffmpeg` tool, required for video processing tasks. This snippet provides installation commands for both macOS via Homebrew and Linux via apt-get.

```bash
# Mac
brew install ffmpeg

# Linux
sudo apt-get update
sudo apt-get install ffmpeg
```

--------------------------------

### Install Python CycloneDDS Module

Source: https://docs.openmind.org/robotics/unitree_go2_quadruped

Installs the Python CycloneDDS module using uv. This is a prerequisite for interacting with the robot's DDS communication layer. Ensure you have the 'dds' extra available.

```bash
uv pip install -r pyproject.toml --extra dds
```

--------------------------------

### Make Kiosk Script Executable

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Sets the execute permission for the kiosk start script, allowing it to be run as a program. This is a standard step after creating or modifying executable scripts.

```Bash
chmod +x /usr/local/bin/start-kiosk.sh
```

--------------------------------

### Start OM1 Simulation

Source: https://docs.openmind.org/examples/gazebo

Command to start the OM1 simulation environment using the 'uv' command. This command assumes the necessary autonomy simulation package is installed and configured.

```bash
uv run src/run.py unitree_go2_autonomy_sim
```

--------------------------------

### Install and Use Pre-commit for Automated Checks

Source: https://docs.openmind.org/developing/0_introduction

This section describes how to install and use pre-commit to automatically run linting and formatting checks before each commit. It involves installing pre-commit and then executing commands to enable the hooks and run all checks manually if needed.

```bash
pre-commit install
pre-commit run --all-files
```

--------------------------------

### Set ROS2 and CycloneDDS Environment Variables

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Sets up the necessary environment variables for ROS2 Humble and CycloneDDS. This includes sourcing the ROS2 setup file, setting the RMW implementation, and defining paths for CycloneDDS.

```Bash
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_HOME=/home/{username}/Documents/Github/cyclonedds/install
export CYCLONEDDS_URI=~/Documents/Github/cyclonedds/cyclonedds.xml
```

--------------------------------

### Install and Lock Chromium Snap Version

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Installs the Chromium browser via snap and locks its version to ensure stability. This is typically done for kiosk applications where consistent behavior is required.

```Bash
sudo snap install chromium
snap download snapd --revision=24724
sudo snap ack snapd_24724.assert
sudo snap install snapd_24724.snap
sudo snap refresh --hold snapd
```

--------------------------------

### Debug Webcam Connection with v4l2-ctl

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

A set of bash commands to help debug webcam issues. It includes listing USB devices, installing v4l-utils, listing video devices, and streaming video data for inspection.

```bash
lsusb
sudo apt install v4l-utils
v4l2-ctl --list-devices
v4l2-ctl -d /dev/video0 --stream-mmap --all
```

--------------------------------

### Install CycloneDDS on Mac

Source: https://docs.openmind.org/robotics/unitree_g1_humanoid

This section details the manual installation of CycloneDDS from source on macOS. It involves cloning the repository, configuring the build with CMake, and installing the libraries. The installation path can be customized.

```bash
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=$HOME/Documents/GitHub/cyclonedds/install ..
cmake --build . --target install
```

--------------------------------

### Install Unitree SDK Dependencies

Source: https://docs.openmind.org/examples/gazebo

Commands to install the necessary dependencies for the Unitree SDK. It first changes the directory to the cloned repository, then uses 'rosdep' to install system dependencies and 'pip' to install Python requirements.

```bash
cd unitree-sdk
rosdep install --from-paths . --ignore-src -r -y
pip install -r requirements.txt
```

--------------------------------

### Configure OpenMind API Key

Source: https://docs.openmind.org/developing/1_get-started

Sets the OpenMind API key for the OM1 project. This can be done by either updating the `/config/spot.json` file or by creating a `.env` file in the project directory with the `OM_API_KEY` variable. A placeholder key will cause errors.

```json
# /config/spot.json5
...
"api_key": "om1_live_..."
...
```

```dotenv
OM_API_KEY=om1_live_...
```

--------------------------------

### Install System Dependencies on Linux

Source: https://docs.openmind.org/robotics/unitree_g1_humanoid

Installs necessary packages like ffmpeg and v4l-utils on Debian-based Linux systems using apt-get. Ensure your package list is up-to-date before installation.

```bash
sudo apt-get update
    sudo apt-get install ffmpeg v4l-utils
```

--------------------------------

### Agent Input and Decision Log

Source: https://docs.openmind.org/developing/1_get-started

Illustrates the input provided to an agent, the available actions, and the LLM's output determining the agent's next commands. This log helps in understanding the agent's decision-making process.

```bash
Object Detector INPUT
// START
You see a person in front of you. You also see a laptop.
// END

AVAILABLE ACTIONS:
command: move
    A movement to be performed by the agent.
    Effect: Allows the agent to move.
    Arguments: Allowed values: 'stand still', 'sit', 'dance', 'shake paw', 'walk', 'walk back', 'run', 'jump', 'wag tail'

command: speak
    Words to be spoken by the agent.
    Effect: Allows the agent to speak.
    Arguments: <class 'str'>

command: emotion
    A facial expression to be performed by the agent.
    Effect: Performs a given facial expression.
    Arguments: Allowed values: 'cry', 'smile', 'frown', 'think', 'joy'

What will you do? Command:

INFO:httpx:HTTP Request: POST https://api.openmind.org/api/core/openai/chat/completions "HTTP/1.1 200 OK"
INFO:root:OpenAI LLM output: commands=[Command(type='move', value='wag tail'), Command(type='speak', value="Hi there! I see you and I'm excited!"), Command(type='emotion', value='joy')]
```

--------------------------------

### List Topics with Message Types (External Machine Example)

Source: https://docs.openmind.org/robotics/unitree_g1_humanoid

This example demonstrates how to list ROS2 topics along with their corresponding message types, as seen from an external development machine. This format is useful for understanding data structures and inter-node communication protocols.

```bash
./bin/listtopics
```

--------------------------------

### Kiosk Start Script for Chromium

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

A bash script designed to run Chromium in kiosk mode. It hides the mouse cursor, waits for a specific port to be available (likely a web server), and then launches Chromium in fullscreen, disabling UI elements.

```Bash
#!/bin/bash

unclutter -display :0 -idle 0.1 -root &

HOST=localhost
PORT=4173

# Wait for Docker service to listen
while ! nc -z $HOST $PORT; do
  echo "Waiting for $HOST:$PORT..."
  sleep 0.1
done

exec chromium --kiosk http://$HOST:$PORT --disable-infobars --noerrdialogs
```

--------------------------------

### Configure CUDA Environment Variables

Source: https://docs.openmind.org/robotics/nvidia_thor

Sets up essential environment variables for CUDA in the user's .bashrc file, including PATH, LD_LIBRARY_PATH, and CUDACXX. These variables are necessary for CUDA applications to run correctly.

```bash
echo "export PATH=/usr/local/cuda/bin:$PATH" >> ~/.bashrc
echo "export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH" >> ~/.bashrc
echo "export CUDACXX=/usr/local/cuda-13.0/bin/nvcc" >> ~/.bashrc
source ~/.bashrc
```

--------------------------------

### Install Dependencies on Mac

Source: https://docs.openmind.org/robotics/unitree_g1_humanoid

Installs necessary packages like `uv`, `portaudio`, and `cmake` using the Homebrew package manager on macOS. Ensure Homebrew is installed before running this command.

```bash
brew install uv portaudio cmake
```

--------------------------------

### Start Unitree SDK Docker Services

Source: https://docs.openmind.org/full_autonomy_guidelines/unitree_sdk

Starts the core Docker services for the Unitree SDK, including orchestrator, om1_sensor, watchdog, and zenoh_bridge. These commands ensure all necessary components are running in detached mode.

```bash
docker-compose up orchestrator -d --no-build
docker-compose up om1_sensor -d --no-build
docker-compose up watchdog -d --no-build
docker-compose up zenoh_bridge -d --no-build
```

--------------------------------

### Configure Default Audio Devices on Raspberry Pi

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

Configures the default input (microphone) and output (speaker) devices on the Raspberry Pi using the 'pactl' command. It includes commands to list devices, set defaults, adjust volume, and manually start the PulseAudio daemon if it's not running.

```bash
pactl list sources short                             # List input (microphone) devices
pactl list sinks short                               # List output (speaker) devices

pactl set-default-sink [SINK_NAME || SINK_ID]        # Set default output device
pactl set-default-source [SOURCE_NAME || SOURCE_ID]  # Set default input device
pactl set-sink-volume @DEFAULT_SINK@ 100%            # Set default output volume

# for example,
pactl set-default-source alsa_input.usb-046d_C270_HD_WEBCAM_2CD9A910-02.mono-fallback
pactl set-default-sink alsa_output.platform-bcm2835_audio.stereo-fallback
```

```bash
pulseaudio --start -D
```

--------------------------------

### Start Streaming Service with Docker Compose

Source: https://docs.openmind.org/full_autonomy_guidelines/om1_video_processor

Initiates the OM1-video-processor services using Docker Compose in detached mode. This command starts the entire processing pipeline, including media streaming and face recognition.

```bash
docker-compose up -d
```

--------------------------------

### Setup Unitree ROS2 Environment Script

Source: https://docs.openmind.org/robotics/unitree_g1_humanoid

This bash script configures the Unitree ROS2 environment by sourcing necessary ROS2 and CycloneDDS setup files. It also sets the RMW_IMPLEMENTATION to rmw_cyclonedds_cpp and defines the CYCLONEDDS_URI for network interface configuration.

```bash
#!/bin/bash
echo "Setup Unitree ROS2 Environment"
source /opt/ros/foxy/setup.bash
source $HOME/unitree_ros2/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
<NetworkInterface name="eth0" priority="default" multicast="default" />
</Interfaces></General></Domain></CycloneDDS>'
```

--------------------------------

### Clone Repository and Navigate

Source: https://docs.openmind.org/full_autonomy_guidelines/om1_video_processor

Clones the OM1-video-processor repository from GitHub and navigates into the project directory. This is the first step in setting up the project locally.

```bash
git clone https://github.com/OpenMind/OM1-video-processor.git
cd OM1-video-processor
```

--------------------------------

### Patch RealSense Installation Script for L4T

Source: https://docs.openmind.org/robotics/nvidia_thor

Modifies the RealSense installation script to include a specific L4T version. This involves adding '38.2.2' to the list of supported versions to ensure compatibility.

```bash
Line 100 "38.2") -> "38.2" | "38.2.2")
```

--------------------------------

### Configure ASR Input

Source: https://docs.openmind.org/developing/1_get-started

Defines the Automatic Speech Recognition (ASR) input configuration. This JSON object specifies the type of ASR to be used, with 'GoogleASRInput' being an example.

```json
{
      "type": "GoogleASRInput"
}
```

--------------------------------

### Configure Camera and Microphone Devices

Source: https://docs.openmind.org/full_autonomy_guidelines/om1_video_processor

Sets optional environment variables for specifying the camera and microphone device paths. These allow customization of hardware input.

```bash
export CAMERA_INDEX="/dev/video6"    # Default camera device
export MICROPHONE_INDEX="default_mic_aec"     # Default microphone device
```

--------------------------------

### Build and Push Docker Dual Bridge Images

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

Instructions for building custom dual bridge Docker images using a provided Dockerfile. Includes commands for tagging and pushing the image to a registry.

```bash
docker build -t my-username/my-image .
docker push my-username/my-image
```

--------------------------------

### Install uv Package Manager (macOS and Linux)

Source: https://docs.openmind.org/developing/1_get-started

Installs the `uv` package manager, which is used for Python package management and virtual environments. This snippet covers installation for both macOS via Homebrew and Linux via a curl script.

```bash
# Mac
brew install uv

# Linux
curl -LsSf https://astral.sh/uv/install.sh | sh
```

--------------------------------

### List Audio Input/Output Devices

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Commands to list available audio sinks (outputs) and sources (inputs) using PulseAudio. This helps in identifying the correct device names for configuration.

```Bash
# for speakers
pactl list sinks
# for microphone
pactl list sources
```

--------------------------------

### Python Example: Transcribe Audio with Google ASR API

Source: https://docs.openmind.org/api-reference/endpoints/google_asr

This Python code demonstrates how to interact with the Google ASR API using the `om1_speech` library. It initializes a WebSocket client, sets up an audio stream, starts the services, and registers a callback to print transcription results. It assumes `om1_speech` and a WebSocket client library are installed.

```python
from om1_speech import AudioInputStream
import ws # Assuming a WebSocket client library is available
import time

# Initialize the Google ASR API
ws_client = ws.Client(url="wss://api.openmind.org/api/core/google/asr?api_key=<YOUR_API_KEY>")
audio_stream_input = AudioInputStream(audio_data_callback=ws_client.send_message)

# Start the Google ASR API
ws_client.start()
audio_stream_input.start()

# Retrieve the Google ASR API response
ws_client.register_message_callback(lambda msg: print(msg))

while True:
  time.sleep(1)
```

--------------------------------

### Enable and Start OM1 Container Restart Service

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Enables and starts the systemd service that automatically restarts the OM1 container on boot. This involves reloading the systemd daemon, enabling the service, and starting it. This ensures the OM1 container is available after system reboots.

```bash
sudo systemctl daemon-reload
sudo systemctl enable om1-container.service
sudo systemctl start om1-container.service
```

--------------------------------

### Install PortAudio Development Headers for Build Errors

Source: https://docs.openmind.org/developing/9_troubleshooting_guide

This command installs the necessary PortAudio development headers, resolving 'fatal error: portaudio.h: No such file or directory' build errors that occur when python-all-dev is unavailable. It requires root privileges and updates the package list before installing.

```shell
sudo apt-get update
sudo apt-get install portaudio19-dev
```

--------------------------------

### Install Unclutter for Mouse Cursor Hiding

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Installs the 'unclutter' utility, which hides the mouse cursor after a period of inactivity. This is often used in kiosk or embedded systems to maintain a clean display.

```Bash
sudo apt install unclutter
```

--------------------------------

### Configure Mock Audio Input for Testing

Source: https://docs.openmind.org/examples/conversation

Sets up a mock audio input within a configuration file to test text-to-speech (TTS) functionalities. This allows users to provide specific sentences for the system to speak, aiding in the debugging of audio output issues and related parameters like chunk sizes.

```json
{
    "type": "MockInput",
    "config": {
        "input_name": "Voice Input"
    }
}
```

--------------------------------

### Full Agent Configuration Example (JSON5)

Source: https://docs.openmind.org/developing/3_configuration

This snippet shows a complete example of an agent configuration file in JSON5 format. It includes settings for agent responsiveness (hertz), identification (name, URID), API key, system prompts, defining agent inputs, configuring the Cortex LLM, and specifying available agent actions.

```json
{
  "hertz": 0.5,
  "name": "agent_name",
  "api_key": "openmind_free",
  "URID": "default",
  "system_prompt_base": "...",
  "system_governance": "...",
  "system_prompt_examples": "...",
  "agent_inputs": [
    {
      "type": "GovernanceEthereum"
    },
    {
      "type": "VLM_COCO_Local",
      "config": {
        "camera_index": 0
      }
    }
  ],
  "cortex_llm": {
    "type": "OpenAILLM",
    "config": {
      "base_url": "", 
      "agent_name": "Iris", 
      "history_length": 10
    }
  },
  "simulators": [
    {
      "type": "WebSim",
      "config": {
        "host": "0.0.0.0",
        "port": 8000,
        "tick_rate": 100,
        "auto_reconnect": true,
        "debug_mode": false
      }
    }
  ],
  "agent_actions": [
    {
      "name": "move",
      "llm_label": "move",
      "implementation": "passthrough",
      "connector": "ros2"
    },
    {
      "name": "speak",
      "llm_label": "speak",
      "implementation": "passthrough",
      "connector": "ros2"
    }
  ]
}
```

--------------------------------

### List PulseAudio Devices

Source: https://docs.openmind.org/full_autonomy_guidelines/pre_config

Lists available PulseAudio sinks and sources, useful for identifying the correct device names for configuration. This command helps users find the specific identifiers for their audio hardware, such as USB microphones or speakers.

```bash
pactl list short
```

--------------------------------

### Start OM1 Agent using CLI

Source: https://docs.openmind.org/developing/0_introduction

This command initiates an OM1 agent with a specified configuration. Optional arguments allow for setting the log level and directing logs to a file. The `config_name` refers to a `.json5` file within the `/config` directory. Use `DEBUG` for verbose logging.

```bash
python src/run.py start [config_name] [--log-level] [--log-to-file]
```

--------------------------------

### Install Docker and Configure Zenoh Bridge for TurtleBot4

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

Installs Docker on the TurtleBot4's Raspberry Pi and configures the Zenoh bridge service using docker-compose. This enables the robot to communicate via Zenoh, sending and receiving ROS2 messages.

```bash
sudo docker compose -f docker-compose.yaml up -d
```

```yaml
services:
  zenoh-bridge-turtlebot4:
    image: openmindagi/turtlebridge
    container_name: zenoh-bridge-turtlebot4
    network_mode: "host"
    restart: always # Ensures the container restarts on reboot
```

--------------------------------

### Install Certifi for OpenSSL Certificate Issues

Source: https://docs.openmind.org/developing/9_troubleshooting_guide

This snippet addresses OpenSSL certificate issues by installing the 'certifi' package using pip and setting environment variables to point to the correct certificate bundle. It is useful when security certificates are not found, preventing secure connections.

```shell
uv pip install certifi
export SSL_CERT_FILE=$(python3 -m certifi)
export REQUESTS_CA_BUNDLE=$(python3 -m certifi)
```

--------------------------------

### Run Specific Agent Configuration

Source: https://docs.openmind.org/developing/1_get-started

Executes a specific agent configuration, such as the 'conversation' agent. This command is necessary when you need to switch from the default agent. Once an agent is run, it becomes the default for subsequent commands.

```bash
uv run src/run.py conversation
```

```bash
uv run src/run.py <agent_name>
```

--------------------------------

### Launch OM1 on Laptop for Remote Control

Source: https://docs.openmind.org/robotics/turtlebot4_zenoh

Launches the OM1 system on a laptop, connecting to a remote TurtleBot4 via Zenoh. This configuration uses the laptop's local sensors (microphone, speaker, camera) for interaction.

```bash
uv run src/run.py turtlebot4
```

--------------------------------

### LIDAR Data for Safe Movement - Possible Moves

Source: https://docs.openmind.org/robotics/motion_planning_unitree_go2

Example output from the LIDAR system indicating that safe movement options are available. This information is relayed to the core LLMs to guide navigation decisions.

```bash
Here is information about objects and walls around you. Use this information to plan your movements and avoid bumping into things: The safe movement choices are: You can turn left. You can turn right.
```
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