From 95dcbaf3e444e136cb739e4db6c8ec7fc6c05d2d Mon Sep 17 00:00:00 2001
From: James Devine <devine.jd@gmail.com>
Date: Wed, 18 Jul 2018 18:57:45 +0200
Subject: [PATCH] Clearing out the computer before it gets wiped.

---
 .../Send_Skeleton.pde                         | 266 ++++++++++++++++++
 .../skelsend.pde~                             | 262 +++++++++++++++++
 the_baxter_mimic/baxter instructions.odt      | Bin 0 -> 49110 bytes
 the_baxter_mimic/baxter_mimic_client.sh       | 191 +++++++++++++
 the_baxter_mimic/baxter_mimic_client.sh~      | 188 +++++++++++++
 the_baxter_mimic/baxter_mimic_server.sh       | 185 ++++++++++++
 the_baxter_mimic/baxter_talk_client.sh        | 199 +++++++++++++
 the_baxter_mimic/baxter_talk_client.sh~       | 198 +++++++++++++
 the_baxter_mimic/baxter_talk_server.sh        | 192 +++++++++++++
 the_baxter_mimic/baxter_talk_server.sh~       | 191 +++++++++++++
 the_baxter_mimic/brazos/arm_server.py         | 127 +++++++++
 the_baxter_mimic/camara/deliver_speech.py     |  20 ++
 the_baxter_mimic/camara/face_client           |  20 ++
 the_baxter_mimic/camara/face_server.py        |  72 +++++
 the_baxter_mimic/speech.txt                   |  10 +
 15 files changed, 2121 insertions(+)
 create mode 100644 the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/Send_Skeleton.pde
 create mode 100644 the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/skelsend.pde~
 create mode 100644 the_baxter_mimic/baxter instructions.odt
 create mode 100644 the_baxter_mimic/baxter_mimic_client.sh
 create mode 100644 the_baxter_mimic/baxter_mimic_client.sh~
 create mode 100644 the_baxter_mimic/baxter_mimic_server.sh
 create mode 100644 the_baxter_mimic/baxter_talk_client.sh
 create mode 100644 the_baxter_mimic/baxter_talk_client.sh~
 create mode 100644 the_baxter_mimic/baxter_talk_server.sh
 create mode 100644 the_baxter_mimic/baxter_talk_server.sh~
 create mode 100644 the_baxter_mimic/brazos/arm_server.py
 create mode 100644 the_baxter_mimic/camara/deliver_speech.py
 create mode 100644 the_baxter_mimic/camara/face_client
 create mode 100644 the_baxter_mimic/camara/face_server.py
 create mode 100644 the_baxter_mimic/speech.txt

diff --git a/the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/Send_Skeleton.pde b/the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/Send_Skeleton.pde
new file mode 100644
index 0000000..a97efc3
--- /dev/null
+++ b/the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/Send_Skeleton.pde
@@ -0,0 +1,266 @@
+/* --------------------------------------------------------------------------
+ * Baxter arm position sender for Kinect V1
+ * Modified from SimpleOpenNI User Test
+ * To run, send the output to the ROS listening port, e.g.
+ * ./processing > /dev/udp/localhost/15444 
+ * --------------------------------------------------------------------------
+ * Processing Wrapper for the OpenNI/Kinect 2 library
+ * http://code.google.com/p/simple-openni
+ * --------------------------------------------------------------------------
+ * Modified by J. Devine and Daniel Gonzalez Castro
+ * Original prog:  Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/
+ * date:  12/12/2012 (m/d/y)
+ * ----------------------------------------------------------------------------
+ */
+
+import SimpleOpenNI.*;
+
+//import processing.net.*;//network lib
+
+//Client c; //comms output
+String SendToServer;
+SimpleOpenNI  context;
+color[]       userClr = new color[]{ color(255,0,0),
+                                     color(0,255,0),
+                                     color(0,0,255),
+                                     color(255,255,0),
+                                     color(255,0,255),
+                                     color(0,255,255)
+                                   };
+PVector com = new PVector();                                   
+PVector com2d = new PVector();                                   
+PVector v1 = new PVector();
+PVector v2d = new PVector();
+float dontcare;
+float Lhandx,Lhandy,Rhandx,Rhandy;
+float Lelbowx,Lelbowy,Relbowx,Relbowy;
+float Lshoulderx,Lshouldery,Rshoulderx,Rshouldery;
+float Langle,Rangle,L2angle,R2angle;
+
+void setup()
+{
+  size(640,480);
+  
+  context = new SimpleOpenNI(this);
+  if(context.isInit() == false)
+  {
+     //println("Can't init SimpleOpenNI, maybe the camera is not connected!"); 
+     exit();
+     return;  
+  }
+  
+  // enable depthMap generation 
+  context.enableDepth();
+   
+  // enable skeleton generation for all joints
+  context.enableUser();
+ 
+  background(200,0,0);
+
+  stroke(0,0,255);
+  strokeWeight(3);
+  smooth();  
+}
+
+void draw()
+{
+  // update the cam
+  context.update();
+  
+  // draw depthImageMap
+  //image(context.depthImage(),0,0);
+  image(context.userImage(),0,0);
+  
+  // draw the skeleton if it's available
+  int[] userList = context.getUsers();
+  for(int i=0;i<userList.length;i++)
+  {
+    if(context.isTrackingSkeleton(userList[i]))
+    {
+      stroke(userClr[ (userList[i] - 1) % userClr.length ] );
+      drawSkeleton(userList[i]);
+    }      
+      
+    // draw the center of mass
+    if(context.getCoM(userList[i],com))
+    {
+      context.convertRealWorldToProjective(com,com2d);
+      stroke(100,255,0);
+      strokeWeight(10);
+      beginShape(LINES);
+        vertex(com2d.x,com2d.y);
+        vertex(com2d.x,com2d.y);
+
+        vertex(com2d.x,com2d.y);
+        vertex(com2d.x,com2d.y);
+        
+      endShape();
+      fill(0,255,100);
+      text(Integer.toString(userList[i]),com2d.x,com2d.y);
+    }
+  }    
+}
+
+// draw the skeleton with the selected joints
+void drawSkeleton(int userId)
+{
+  // to get the 3d joint data
+  /*
+  PVector jointPos = new PVector();
+  context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_NECK,jointPos);
+  println(jointPos);
+  */
+  
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND);
+  SendToServer="";
+  context.getCoM(userId,v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print("CoM ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(1);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+("CoM:"+v2d.x+','+v2d.y);
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HAND, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" Left hand ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Lhand:"+v2d.x+','+v2d.y);
+  Lhandx=v2d.x;
+  Lhandy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  
+  //print(" Lelbow ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Lelbow:"+v2d.x+','+v2d.y);
+  Lelbowx=v2d.x;
+  Lelbowy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" Left shoulder ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);  
+  SendToServer = SendToServer+(";Lshoulder:"+v2d.x+','+v2d.y);
+  Lshoulderx=v2d.x;
+  Lshouldery=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+   //print(" Right hand ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(255,0,0);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Rhand:"+v2d.x+','+v2d.y);
+  Rhandx=v2d.x;
+  Rhandy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" right elbow ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Relbow:"+v2d.x+','+v2d.y);  
+  Relbowx=v2d.x;
+  Relbowy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" right shoulder ");
+  //print(v2d.x);
+  //print(' ');
+  //println(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Rshoulder:"+v2d.x+','+v2d.x+"\n");
+  //println(SendToServer);
+  Rshoulderx=v2d.x;
+  Rshouldery=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //println(";diference:"+(Lelbowx-Lshoulderx));
+  Langle=atan2((Lelbowx-Lshoulderx),(Lelbowy-Lshouldery));
+  Rangle=atan2((Relbowx-Rshoulderx),(Relbowy-Rshouldery));
+  L2angle=atan2((Lhandx-Lelbowx),(Lhandy-Lelbowy));
+  R2angle=atan2((Rhandx-Relbowx),(Rhandy-Relbowy));
+  println("parsethis:"+Langle+':'+Rangle+':'+L2angle+':'+R2angle);
+  //println(Rangle);
+  //c.write(SendToServer);  
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT);  
+}
+
+// -----------------------------------------------------------------
+// SimpleOpenNI events
+
+void onNewUser(SimpleOpenNI curContext, int userId)
+{
+  //println("onNewUser - userId: " + userId);
+  //println("\tstart tracking skeleton");
+  
+  curContext.startTrackingSkeleton(userId);
+}
+
+void onLostUser(SimpleOpenNI curContext, int userId)
+{
+  //println("onLostUser - userId: " + userId);
+}
+
+void onVisibleUser(SimpleOpenNI curContext, int userId)
+{
+  //println("onVisibleUser - userId: " + userId);
+}
+
+
+void keyPressed()
+{
+  switch(key)
+  {
+  case ' ':
+    context.setMirror(!context.mirror());
+    break;
+  }
+}  
+
diff --git a/the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/skelsend.pde~ b/the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/skelsend.pde~
new file mode 100644
index 0000000..e47348d
--- /dev/null
+++ b/the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/skelsend.pde~
@@ -0,0 +1,262 @@
+/* --------------------------------------------------------------------------
+ * SimpleOpenNI User Test
+ * --------------------------------------------------------------------------
+ * Processing Wrapper for the OpenNI/Kinect 2 library
+ * http://code.google.com/p/simple-openni
+ * --------------------------------------------------------------------------
+ * prog:  Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/
+ * date:  12/12/2012 (m/d/y)
+ * ----------------------------------------------------------------------------
+ */
+
+import SimpleOpenNI.*;
+
+//import processing.net.*;//network lib
+
+//Client c; //comms output
+String SendToServer;
+SimpleOpenNI  context;
+color[]       userClr = new color[]{ color(255,0,0),
+                                     color(0,255,0),
+                                     color(0,0,255),
+                                     color(255,255,0),
+                                     color(255,0,255),
+                                     color(0,255,255)
+                                   };
+PVector com = new PVector();                                   
+PVector com2d = new PVector();                                   
+PVector v1 = new PVector();
+PVector v2d = new PVector();
+float dontcare;
+float Lhandx,Lhandy,Rhandx,Rhandy;
+float Lelbowx,Lelbowy,Relbowx,Relbowy;
+float Lshoulderx,Lshouldery,Rshoulderx,Rshouldery;
+float Langle,Rangle,L2angle,R2angle;
+
+void setup()
+{
+  size(640,480);
+  
+  context = new SimpleOpenNI(this);
+  if(context.isInit() == false)
+  {
+     //println("Can't init SimpleOpenNI, maybe the camera is not connected!"); 
+     exit();
+     return;  
+  }
+  
+  // enable depthMap generation 
+  context.enableDepth();
+   
+  // enable skeleton generation for all joints
+  context.enableUser();
+ 
+  background(200,0,0);
+
+  stroke(0,0,255);
+  strokeWeight(3);
+  smooth();  
+}
+
+void draw()
+{
+  // update the cam
+  context.update();
+  
+  // draw depthImageMap
+  //image(context.depthImage(),0,0);
+  image(context.userImage(),0,0);
+  
+  // draw the skeleton if it's available
+  int[] userList = context.getUsers();
+  for(int i=0;i<userList.length;i++)
+  {
+    if(context.isTrackingSkeleton(userList[i]))
+    {
+      stroke(userClr[ (userList[i] - 1) % userClr.length ] );
+      drawSkeleton(userList[i]);
+    }      
+      
+    // draw the center of mass
+    if(context.getCoM(userList[i],com))
+    {
+      context.convertRealWorldToProjective(com,com2d);
+      stroke(100,255,0);
+      strokeWeight(10);
+      beginShape(LINES);
+        vertex(com2d.x,com2d.y);
+        vertex(com2d.x,com2d.y);
+
+        vertex(com2d.x,com2d.y);
+        vertex(com2d.x,com2d.y);
+        
+      endShape();
+      fill(0,255,100);
+      text(Integer.toString(userList[i]),com2d.x,com2d.y);
+    }
+  }    
+}
+
+// draw the skeleton with the selected joints
+void drawSkeleton(int userId)
+{
+  // to get the 3d joint data
+  /*
+  PVector jointPos = new PVector();
+  context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_NECK,jointPos);
+  println(jointPos);
+  */
+  
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND);
+  SendToServer="";
+  context.getCoM(userId,v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print("CoM ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(1);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+("CoM:"+v2d.x+','+v2d.y);
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HAND, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" Left hand ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Lhand:"+v2d.x+','+v2d.y);
+  Lhandx=v2d.x;
+  Lhandy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  
+  //print(" Lelbow ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Lelbow:"+v2d.x+','+v2d.y);
+  Lelbowx=v2d.x;
+  Lelbowy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" Left shoulder ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);  
+  SendToServer = SendToServer+(";Lshoulder:"+v2d.x+','+v2d.y);
+  Lshoulderx=v2d.x;
+  Lshouldery=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+   //print(" Right hand ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(255,0,0);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Rhand:"+v2d.x+','+v2d.y);
+  Rhandx=v2d.x;
+  Rhandy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" right elbow ");
+  //print(v2d.x);
+  //print(' ');
+  //print(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Relbow:"+v2d.x+','+v2d.y);  
+  Relbowx=v2d.x;
+  Relbowy=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //print(" right shoulder ");
+  //print(v2d.x);
+  //print(' ');
+  //println(v2d.y);
+  fill(0,0,0);
+  stroke(255,255,255);
+  strokeWeight(10);
+  rect(v2d.x, v2d.y, 5, 5);
+  SendToServer = SendToServer+(";Rshoulder:"+v2d.x+','+v2d.x+"\n");
+  //println(SendToServer);
+  Rshoulderx=v2d.x;
+  Rshouldery=v2d.y;
+  context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
+  context.convertRealWorldToProjective(v1,v2d);
+  //println(";diference:"+(Lelbowx-Lshoulderx));
+  Langle=atan2((Lelbowx-Lshoulderx),(Lelbowy-Lshouldery));
+  Rangle=atan2((Relbowx-Rshoulderx),(Relbowy-Rshouldery));
+  L2angle=atan2((Lhandx-Lelbowx),(Lhandy-Lelbowy));
+  R2angle=atan2((Rhandx-Relbowx),(Rhandy-Relbowy));
+  println("parsethis:"+Langle+':'+Rangle+':'+L2angle+':'+R2angle);
+  //println(Rangle);
+  //c.write(SendToServer);  
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT);
+
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE);
+  //context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT);  
+}
+
+// -----------------------------------------------------------------
+// SimpleOpenNI events
+
+void onNewUser(SimpleOpenNI curContext, int userId)
+{
+  //println("onNewUser - userId: " + userId);
+  //println("\tstart tracking skeleton");
+  
+  curContext.startTrackingSkeleton(userId);
+}
+
+void onLostUser(SimpleOpenNI curContext, int userId)
+{
+  //println("onLostUser - userId: " + userId);
+}
+
+void onVisibleUser(SimpleOpenNI curContext, int userId)
+{
+  //println("onVisibleUser - userId: " + userId);
+}
+
+
+void keyPressed()
+{
+  switch(key)
+  {
+  case ' ':
+    context.setMirror(!context.mirror());
+    break;
+  }
+}  
+
diff --git a/the_baxter_mimic/baxter instructions.odt b/the_baxter_mimic/baxter instructions.odt
new file mode 100644
index 0000000000000000000000000000000000000000..5cf31070d985195b89261e21c0c30c79e8682863
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diff --git a/the_baxter_mimic/baxter_mimic_client.sh b/the_baxter_mimic/baxter_mimic_client.sh
new file mode 100644
index 0000000..4d6b9df
--- /dev/null
+++ b/the_baxter_mimic/baxter_mimic_client.sh
@@ -0,0 +1,191 @@
+#!/bin/bash
+#Make sure you are running the server and the Processing sketch if you actually want the robot to move. Needs a Kinect V1.
+#We had it up and running on an ubuntu machine.
+#The processing sketch throws NaN/Div0 errors every so often, hence the infinite loop.
+# based on the original from Rethink Robotics
+
+
+# This file is to be used in the *root* of your Catkin workspace.
+
+# This is a convenient script which will set up your ROS environment and
+# should be executed with every new instance of a shell in which you plan on
+# working with Baxter.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+while true;
+do rosrun brazos brazo_control.py 
+done
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/baxter_mimic_client.sh~ b/the_baxter_mimic/baxter_mimic_client.sh~
new file mode 100644
index 0000000..23ad712
--- /dev/null
+++ b/the_baxter_mimic/baxter_mimic_client.sh~
@@ -0,0 +1,188 @@
+#!/bin/bash
+# Copyright (c) 2013-2015, Rethink Robotics
+# All rights reserved.
+
+# This file is to be used in the *root* of your Catkin workspace.
+
+# This is a convenient script which will set up your ROS environment and
+# should be executed with every new instance of a shell in which you plan on
+# working with Baxter.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+while true;
+do rosrun brazos brazo_control.py 
+done
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/baxter_mimic_server.sh b/the_baxter_mimic/baxter_mimic_server.sh
new file mode 100644
index 0000000..d83f1dd
--- /dev/null
+++ b/the_baxter_mimic/baxter_mimic_server.sh
@@ -0,0 +1,185 @@
+#!/bin/bash
+# Modified from the original by Rethink Robotics
+# Run this first to get baxter going. Then run ./baxtermimic.sh in a new terminal.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+rosrun baxter_tools enable_robot.py -e 
+rosrun baxter_tools camera_control.py -l 
+rosrun baxter_tools camera_control.py -c right_hand_camera 
+rosrun baxter_tools camera_control.py -o head_camera 640x480 
+rosrun brazos arm_server.py &disown
+rosrun camara face_server.py 
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/baxter_talk_client.sh b/the_baxter_mimic/baxter_talk_client.sh
new file mode 100644
index 0000000..0ea19ff
--- /dev/null
+++ b/the_baxter_mimic/baxter_talk_client.sh
@@ -0,0 +1,199 @@
+#!/bin/bash
+#This script converts the speech.txt file to a wav and then sends it along with some movements to the Baxter.
+#Make sure you are running the server!
+pico2wave -w speech.wav "$(cat speech.txt)"
+
+
+# Copyright (c) 2013-2015, Rethink Robotics
+# All rights reserved.
+
+# This file is to be used in the *root* of your Catkin workspace.
+
+# This is a convenient script which will set up your ROS environment and
+# should be executed with every new instance of a shell in which you plan on
+# working with Baxter.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+rosrun brazos arm_client.py "afraid" 
+sleep 5
+rosrun camara deliver_speech.py
+sleep 44
+#nake this sleep longer to suit the length of the text being read.
+rosrun brazos arm_client.py "up-down" 
+sleep 5
+rosrun brazos arm_client.py "stop" 
+
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/baxter_talk_client.sh~ b/the_baxter_mimic/baxter_talk_client.sh~
new file mode 100644
index 0000000..37a8fd6
--- /dev/null
+++ b/the_baxter_mimic/baxter_talk_client.sh~
@@ -0,0 +1,198 @@
+#!/bin/bash
+#This script converts the speech.txt file to a wav and then sends it along with some movements to the Baxter.
+pico2wave -w speech.wav "$(cat speech.txt)"
+
+
+# Copyright (c) 2013-2015, Rethink Robotics
+# All rights reserved.
+
+# This file is to be used in the *root* of your Catkin workspace.
+
+# This is a convenient script which will set up your ROS environment and
+# should be executed with every new instance of a shell in which you plan on
+# working with Baxter.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+rosrun brazos arm_client.py "afraid" 
+sleep 5
+rosrun camara deliver_speech.py
+sleep 44
+#nake this sleep longer to suit the length of the text being read.
+rosrun brazos arm_client.py "up-down" 
+sleep 5
+rosrun brazos arm_client.py "stop" 
+
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/baxter_talk_server.sh b/the_baxter_mimic/baxter_talk_server.sh
new file mode 100644
index 0000000..2ab0f77
--- /dev/null
+++ b/the_baxter_mimic/baxter_talk_server.sh
@@ -0,0 +1,192 @@
+#!/bin/bash
+#This script accepts connections from the talk client.
+# Modified from the original by Rethink Robotics
+
+
+# This file is to be used in the *root* of your Catkin workspace.
+
+# This is a convenient script which will set up your ROS environment and
+# should be executed with every new instance of a shell in which you plan on
+# working with Baxter.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+rosrun baxter_tools enable_robot.py -e 
+rosrun baxter_tools camera_control.py -l 
+rosrun baxter_tools camera_control.py -c right_hand_camera 
+rosrun baxter_tools camera_control.py -o head_camera 640x480 
+rosrun brazos arm_server.py &disown
+rosrun camara face_server.py 
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/baxter_talk_server.sh~ b/the_baxter_mimic/baxter_talk_server.sh~
new file mode 100644
index 0000000..6a20f48
--- /dev/null
+++ b/the_baxter_mimic/baxter_talk_server.sh~
@@ -0,0 +1,191 @@
+#!/bin/bash
+# Copyright (c) 2013-2015, Rethink Robotics
+# All rights reserved.
+
+# This file is to be used in the *root* of your Catkin workspace.
+
+# This is a convenient script which will set up your ROS environment and
+# should be executed with every new instance of a shell in which you plan on
+# working with Baxter.
+
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
+#-----------------------------------------------------------------------------#
+#                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
+#-----------------------------------------------------------------------------#
+# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
+# previously set (typically in your .bashrc or .bash_profile), those settings
+# will be overwritten by any variables set here.
+
+# Specify Baxter's hostname
+baxter_hostname="baxter.local"
+
+# Set *Either* your computers ip address or hostname. Please note if using
+# your_hostname that this must be resolvable to Baxter.
+your_ip="192.168.1.3"
+#your_hostname="my_computer.local"
+
+# Specify ROS distribution (e.g. indigo, hydro, etc.)
+ros_version="indigo"
+#-----------------------------------------------------------------------------#
+
+tf=$(mktemp)
+trap "rm -f -- '${tf}'" EXIT
+
+# If this file specifies an ip address or hostname - unset any previously set
+# ROS_IP and/or ROS_HOSTNAME.
+# If this file does not specify an ip address or hostname - use the
+# previously specified ROS_IP/ROS_HOSTNAME environment variables.
+if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
+	unset ROS_IP && unset ROS_HOSTNAME
+else
+	your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
+fi
+
+# If argument provided, set baxter_hostname to argument
+# If argument is sim or local, set baxter_hostname to localhost
+if [ -n "${1}" ]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
+		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
+	else
+		baxter_hostname="${1}"
+	fi
+fi
+
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
+
+cat <<-EOF > ${tf}
+	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
+	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
+
+	# verify this script is moved out of baxter folder
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
+		echo -ne "EXITING - This script must be moved from the baxter folder \
+to the root of your catkin workspace.\n"
+		exit 1
+	fi
+
+	# verify ros_version lowercase
+	ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
+
+	# check for ros installation
+	if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
+		echo "EXITING - No ROS installation found in /opt/ros."
+		echo "Is ROS installed?"
+		exit 1
+	fi
+
+	# if set, verify user has modified the baxter_hostname
+	if [ -n ${baxter_hostname} ] && \
+	[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'baxter_hostname' variable to reflect Baxter's current hostname.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their ip address (your_ip)
+	if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
+variable to reflect your current IP address.\n"
+		exit 1
+	fi
+
+	# if set, verify user has modified their computer hostname (your_hostname)
+	if [ -n ${your_hostname} ] && \
+	[[ "${your_hostname}" == "my_computer.local" ]]; then
+		echo -ne "EXITING - Please edit this file, modifying the \
+'your_hostname' variable to reflect your current PC hostname.\n"
+		exit 1
+	fi
+
+	# verify user does not have both their ip *and* hostname set
+	if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+*EITHER* your_ip or your_hostname.\n"
+		exit 1
+	fi
+
+	# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
+	if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
+		echo -ne "EXITING - Please edit this file, modifying to specify \
+your_ip or your_hostname.\n"
+		exit 1	
+	fi
+
+	# verify specified ros version is installed
+	ros_setup="/opt/ros/\${ros_version}"
+	if [ ! -d "\${ros_setup}" ]; then
+		echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
+in \${ros_setup}.\n"
+		exit 1
+	fi
+
+	# verify the ros setup.sh file exists
+	if [ ! -s "\${ros_setup}"/setup.sh ]; then
+		echo -ne "EXITING - Failed to find the ROS environment script: \
+"\${ros_setup}"/setup.sh.\n"
+		exit 1
+	fi
+
+	# verify the user is running this script in the root of the catkin
+	# workspace and that the workspace has been compiled.
+	if [ ! -s "devel/setup.bash" ]; then
+		echo -ne "EXITING - \n1) Please verify that this script is being run \
+in the root of your catkin workspace.\n2) Please verify that your workspace \
+has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
+3) Run this script again upon completion of your workspace build.\n"
+		exit 1
+	fi
+
+	[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
+	[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
+	[ -n "${baxter_hostname}" ] && \
+		export ROS_MASTER_URI="http://${baxter_hostname}:11311"
+
+	# source the catkin setup bash script
+	source devel/setup.bash
+
+	# setup the bash prompt
+	export __ROS_PROMPT=\${__ROS_PROMPT:-0}
+	[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
+		export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
+
+	__ros_prompt () {
+		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
+			eval \${__ORIG_PROMPT_COMMAND}
+		fi
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+			export PS1="\[\033[00;33m\][baxter - \
+\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
+		fi
+	}
+
+	if [ "\${TERM}" != "dumb" ]; then
+		export PROMPT_COMMAND=__ros_prompt
+		__ROS_PROMPT=1
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
+		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
+	fi
+rosrun baxter_tools enable_robot.py -e 
+rosrun baxter_tools camera_control.py -l 
+rosrun baxter_tools camera_control.py -c right_hand_camera 
+rosrun baxter_tools camera_control.py -o head_camera 640x480 
+rosrun brazos arm_server.py &disown
+rosrun camara face_server.py 
+
+EOF
+
+${SHELL} --rcfile ${tf}
+rm -f -- "${tf}"
+trap - EXIT
+
+
+
+# vim: noet
+
diff --git a/the_baxter_mimic/brazos/arm_server.py b/the_baxter_mimic/brazos/arm_server.py
new file mode 100644
index 0000000..6d54a5f
--- /dev/null
+++ b/the_baxter_mimic/brazos/arm_server.py
@@ -0,0 +1,127 @@
+#!/usr/bin/python2
+
+# Copyright (c) 2013-2015, Rethink Robotics
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+#    this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of the Rethink Robotics nor the names of its
+#    contributors may be used to endorse or promote products derived from
+#    this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+import sys
+import argparse
+
+import rospy
+
+from baxter_core_msgs.msg import JointCommand
+import baxter_interface
+from std_msgs.msg import String
+
+state="stop"
+def state_machine(data):
+    global state
+    state=data.data
+    print state
+
+def talker():
+    
+    print ("hola")
+    global state
+    state="stop"
+    rospy.Subscriber('arm_move', String, state_machine)
+    
+    pub_left = rospy.Publisher('robot/limb/left/joint_command', JointCommand, queue_size=1) 
+    pub_right = rospy.Publisher('robot/limb/right/joint_command', JointCommand, queue_size=1)    
+    rospy.init_node("brazo_control")
+    rate=rospy.Rate(15)
+    contador=0 
+    contador_afraid=0   
+
+    while not rospy.is_shutdown():
+        
+        if (state=="stop"):
+
+            pub_left.publish(mode=1,command=[-0.48, -0.505, 0.041, 1.77, 0.018, 0.266, 3.048],names=['left_s0','left_s1','left_e0','left_e1','left_w0','left_w1','left_w2'])
+            pub_right.publish(mode=1,command=[0.477, -0.4, 0.2, 1.45, 2.75, -0.45, 3.05],names=['right_s0','right_s1','right_e0','right_e1','right_w0','right_w1','right_w2'])
+        if (state=="up-down"):
+            print contador
+            if contador<30:
+                pub_left.publish(mode=1,command=[0.004, 0.265,  3.045, 0.005, 1.787, -0.49, -1.03],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
+                pub_right.publish(mode=1,command=[0.34, -0.08, 3.035, -0.066, 3.035, 0.133, 1.55],names=['right_s0', 'right_s1' , 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
+                contador=contador+1
+            if contador>=30:
+                pub_left.publish(mode=1,command=[0.004, -0.0939, 3.044, 0.0038, 1.699, -0.518, -0.151],names=['left_w0', 'left_w1' , 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
+                pub_right.publish(mode=1,command=[0.36, -0.82, 2.91, -0.934, 3.05, 0.225, 1.402],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
+                contador=contador+1
+            if contador==60:
+                contador=0
+        if (state=="two_hands"):
+            if contador<100:
+                pub_left.publish(mode=1,command=[0.018, -0.204, 3.046, 0.225, -0.044, -0.507, -0.60],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
+                pub_right.publish(mode=1,command=[0.5, -0.85, 2.8, 0.22, 3.05, 0.007, 0.406],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
+            if contador==100:
+                contador=0
+                state="stop"
+        if (state=="left_hand"):
+            if contador<100:
+                pub_left.publish(mode=1,command=[-1.45, 0.182,  3.018, 0.041, -0.039, -0.777, -0.011],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
+                pub_right.publish(mode=1,command=[0.477, -0.4, 0.2, 1.45, 2.75, -0.45, 3.05],names=['right_s0','right_s1','right_e0','right_e1','right_w0','right_w1','right_w2'])
+            if contador==100:
+                contador=0
+                state="stop"
+        if (state=="right_hand"):
+            if contador<100:
+                pub_left.publish(mode=1,command=[-0.48, -0.505, 0.041, 1.77, 0.018, 0.266, 3.048],names=['left_s0','left_s1','left_e0','left_e1','left_w0','left_w1','left_w2'])
+                pub_right.publish(mode=1,command=[0.21, -0.194, 3.059, -0.268, 3.054, 0.923, 0.356],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
+            if contador==100:
+                contador=0
+                state="stop"
+        if (state=="afraid"):
+            if contador<50:
+                pub_left.publish(mode=1,command=[-0.238, -0.0329, 3.044, 0.270, -0.0498, -0.49, -1.157],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
+                pub_right.publish(mode=1,command=[0.58, -1.1635,3.0579, -0.156, 3.053, -0.0145, -0.0498],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
+                contador=contador+1
+            if contador>=50:
+                pub_left.publish(mode=1,command=[-0.711, 0.009, 3.04, 0.287, 0.262, -0.437, -1.0787],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
+                pub_right.publish(mode=1,command=[0.091, -1.160, 3.059,-0.333,3.053, 0.1096, 0.365],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
+                contador=contador+1
+            if contador==100:
+                contador=0
+                contador_afraid=contador_afraid+1
+                if contador_afraid==2:
+                    state="stop"
+                    ontador_afraid=0
+       
+	
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        
+        talker()
+    except rospy.ROSInterruptException:
+        pass
+
+    
+
+
diff --git a/the_baxter_mimic/camara/deliver_speech.py b/the_baxter_mimic/camara/deliver_speech.py
new file mode 100644
index 0000000..5d32304
--- /dev/null
+++ b/the_baxter_mimic/camara/deliver_speech.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+# license removed for brevity
+import rospy
+from std_msgs.msg import String
+import sys
+
+def talker():
+    pub = rospy.Publisher('face_type', String, queue_size=10)
+    rospy.init_node('face_client', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    audio="speech.wav"
+        
+    pub.publish(audio)
+        
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/the_baxter_mimic/camara/face_client b/the_baxter_mimic/camara/face_client
new file mode 100644
index 0000000..12d5f50
--- /dev/null
+++ b/the_baxter_mimic/camara/face_client
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+# license removed for brevity
+import rospy
+from std_msgs.msg import String
+import sys
+
+def talker():
+    pub = rospy.Publisher('face_type', String, queue_size=10)
+    rospy.init_node('face_client', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    audio="src/camara/scripts/"+sys.argv[1]
+        
+    pub.publish(audio)
+        
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass
\ No newline at end of file
diff --git a/the_baxter_mimic/camara/face_server.py b/the_baxter_mimic/camara/face_server.py
new file mode 100644
index 0000000..fec1f47
--- /dev/null
+++ b/the_baxter_mimic/camara/face_server.py
@@ -0,0 +1,72 @@
+#!/usr/bin/python2
+
+import os
+import sys
+import argparse
+import threading
+import rospy
+import cv2
+import cv_bridge
+import pyaudio
+import wave
+import sys
+import math
+import matplotlib.pyplot as plt
+import numpy as np
+CHUNK = 1024
+from std_msgs.msg import String
+
+from sensor_msgs.msg import (
+    Image,
+)
+audio_path="src/camara/scripts/audio.wav"
+def callback(data):
+    arg1="src/camara/scripts/conversacion/saludo3.png"
+    arg2="src/camara/scripts/conversacion/saludo10.png"
+    img1 = cv2.imread(arg1)
+    img2 = cv2.imread(arg2)
+    msg1 = cv_bridge.CvBridge().cv2_to_imgmsg(img1, encoding="bgr8")
+    msg2 = cv_bridge.CvBridge().cv2_to_imgmsg(img2, encoding="bgr8")
+    pub = rospy.Publisher('/robot/xdisplay', Image, latch=True, queue_size=1)
+    pub.publish(msg1)
+    global audio_path
+    audio_path=data.data
+    wf = wave.open(audio_path, 'rb')
+    # instantiate PyAudio (1)
+    p = pyaudio.PyAudio()
+    # open stream (2)
+    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
+                    channels=wf.getnchannels(),
+                    rate=wf.getframerate(),
+                    output=True)
+
+    data = wf.readframes(CHUNK)
+    # play stream (3)
+    frames=[]
+    while len(data) > 0:
+        stream.write(data)
+        data = wf.readframes(CHUNK)
+        signal = np.fromstring(data, 'Int16')
+        if (math.fabs(np.average(signal))<5):
+             pub.publish(msg1)
+        else:
+             pub.publish(msg2)
+    
+
+
+def manage_audio():
+    rospy.init_node("estado2")
+    rate=rospy.Rate(10)
+    contador=1
+    
+    rospy.Subscriber('face_type', String, callback)
+    print ("callback")
+    
+    rospy.spin()  
+
+if __name__ == '__main__':
+    try:
+        
+        manage_audio()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/the_baxter_mimic/speech.txt b/the_baxter_mimic/speech.txt
new file mode 100644
index 0000000..bffd5c4
--- /dev/null
+++ b/the_baxter_mimic/speech.txt
@@ -0,0 +1,10 @@
+Hi. I'm Baxter.
+I very much enjoyed being on the CineGlobe jury.
+I can tell you, that I, really enjoyed session six.
+Or I should say you, enjoyed session six.
+However, I found it very, difficult to make a decision.
+I don't know how you humans do it. 
+I guess, judging art just isn't, yet, for machines.
+But I will let, Mohanty, explain to you how I was going to decide my favorite film.
+Mohanty, would, you, like to come up here?
+Everyone, Mohanty, Sharada, from the Artificial Intelligence, lab at the, Ecole, Polytechnique, Federale, de Lausanne.