This repository contains an animated model of the Sophia head, as a Blender file, as well as a Robot Operating System (ROS) node to control the model. The ROS node is automatically started when the blender file is loaded.

The rigControl python module contains scripts to drive the model, as well as defining a public programming API. The rosrig python module contains ROS node implementation. The rigAPI module defines an abstract base class for controlling the rig: the ROS node uses this API, and rigControl implements it.

Pre-requisites: The code is designed for Blender 2.71. Start blender as follows:

./blender-2.71-linux-glibc211-x86_64/blender -y Sophia.blend -P autostart.py

Sophia can be controlled via buttons in the blender GUI (note the panel on the right). A HOWTO guide for manipulating via ROS can be found in the Sophia cookbook

• The ROS node listens to and acts on ROS messages. It uses the abstract base class rigAPI to communicate with blender.
• Animation messages are queued with the CommandSource.py module.
• The CommandListener listens to CommandSource messages; these are 'rigAPI messages.
• The command.py module implements the rigAPI
• The AnimationManager keeps track of of Eva's internal state.
• The Actuators are responsible individual actions of Eva such as breathing, blinking and eye movement.

All animation sequences and 3D data are stored in the Blender file.

Copyright (c) 2014,2015,2016 Hanson Robotics

Copyright (c) 2014,2015 Mike Pan