hlrc

    printf("> registering converters\n");

    //converter for EmotionState

    rsb::converter::Converter<string>::Ptr emotionStateConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::EmotionExpression>());

    rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter);

    //converter for SoundChunk

    rsb::converter::Converter<string>::Ptr SoundChunkConverter(new rsb::converter::ProtocolBufferConverter<rst::audition::SoundChunk>());

    rsb::converter::converterRepository<string>()->registerConverter(SoundChunkConverter);

    //converter for Utterance

    rsb::converter::Converter<string>::Ptr UtteranceConverter(new rsb::converter::ProtocolBufferConverter<rst::audition::Utterance>());

    rsb::converter::converterRepository<string>()->registerConverter(UtteranceConverter);

    //converter for GazeTarget

    rsb::converter::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::BinocularHeadGaze>());

    rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter);

    //converter for MouthTarget

    //rsb::converter::Converter<string>::Ptr mouthTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>());

    //rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter);

    //converter for Animation

    rsb::converter::Converter<string>::Ptr animationConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::HeadAnimation>());

    rsb::converter::converterRepository<string>()->registerConverter(animationConverter);

    //first get a factory instance that is used to create RSB domain objects

    Factory &factory = getFactory();