i01.startPIR("COM5",12)
 
 
 
def input():
    # print 'python object is ', msg_clock_pulse
    pin = msg_i01_right_publishPin.data[0]
    print 'pin data is ', pin.pin, pin.value
    if (pin.value == 1):
      mouth.speak("howdy partner")
      #head.neck.moveTo(85)
      #sleep(2)
      #head.neck.moveTo(90)
 
 
 
 
 
# auto detaches any attached servos after 120 seconds of inactivity
i01.autoPowerDownOnInactivity()
 

wkinne

10 years 8 months ago

# this script is provided as a basic guide
# most parts can be run by uncommenting them
# InMoov now can be started in modular pieces
 
leftPort = "COM6"
rightPort = "COM5"
 
# leftHand = Runtime.create("i01.leftHand","InMoovHand")
 
 
 
# starts everything
# i01.startAll(leftPort, rightPort)
 
i01 = Runtime.createAndStart("i01", "InMoov")
 
sleep(1)
 
 
i01.startMouthControl("COM6")
sleep(1)
i01.mouthControl.setmouth(60,100)
 
# starting parts
i01.startMouth()
sleep(1)
sleep(1)
i01.startLeftHand(leftPort)
sleep(1)
i01.startLeftArm(leftPort)
sleep(1)
i01.startRightArm(rightPort)
sleep(1)
i01.startRightHand(rightPort)
sleep(1)
 
i01.startHead(leftPort)
sleep(1)
i01.startEar()
sleep(1)
 
 
# i01.startLeftHand(leftPort)
 
 
# set servo minimum & maximum limits
 
i01.head.jaw.setMinMax(60,100)
i01.head.rothead.setMinMax(50,150)
i01.head.neck.setMinMax(60,135)
i01.head.eyeX.setMinMax(70,110)
 
i01.leftHand.thumb.setMinMax(100,180)
i01.leftHand.index.setMinMax(15,100)
i01.leftHand.majeure.setMinMax(0,100)
i01.leftHand.ringFinger.setMinMax(15,130)
i01.leftHand.pinky.setMinMax(65,135)
 
i01.rightHand.thumb.setMinMax(30,135)
i01.rightHand.index.setMinMax(15,100)
i01.rightHand.majeure.setMinMax(15,95)
i01.rightHand.ringFinger.setMinMax(10,85)
i01.rightHand.pinky.setMinMax(10,100)
 
i01.rightHand.wrist.setMinMax(85,164)
i01.leftHand.wrist.setMinMax(28,80)
 
i01.rightArm.bicep.setMinMax(15,95)
i01.rightArm.rotate.setMinMax(70,150)
i01.rightArm.shoulder.setMinMax(18,107)
i01.rightArm.omoplate.setMinMax(85,150)
 
i01.leftArm.bicep.setMinMax(0,70)
i01.leftArm.rotate.setMinMax(46,160)
i01.leftArm.shoulder.setMinMax(30,100)
i01.leftArm.omoplate.setMinMax(110,150)
 
# set servo minimum & maximum limits
 
 
# mapping servo's
 
 
i01.head.rothead.map(0,180,50,150)
i01.head.neck.map(0,180,60,135)
i01.head.eyeX.map(0,180,70,110)
 
i01.leftHand.thumb.map(0,180,100,180)
i01.leftHand.index.map(0,180,15,100)
i01.leftHand.majeure.map(0,180,0,100)
i01.leftHand.ringFinger.map(0,180,15,130)
i01.leftHand.pinky.map(0,180,65,135)
 
i01.rightHand.thumb.map(0,180,30,135)
i01.rightHand.index.map(0,180,15,100)
i01.rightHand.majeure.map(0,180,15,95)
i01.rightHand.ringFinger.map(0,180,10,85)
i01.rightHand.pinky.map(0,180,10,100)
 
i01.rightHand.wrist.map(0,180,85,164)
i01.leftHand.wrist.map(0,180,28,80)
 
 
i01.rightArm.bicep.map(0,180,15,80)
i01.rightArm.rotate.map(0,180,60,150)
i01.rightArm.shoulder.map(0,180,18,107)
# i01.rightArm.omoplate.map(0,180,85,150)
 
i01.leftArm.bicep.map(0,180,0,70)
i01.leftArm.rotate.map(0,180,46,160)
i01.leftArm.shoulder.map(0,180,30,100)
# i01.leftArm.omoplate.map(0,180,110,150)
 
# mapping servo's
 
# set servo rest positions
 
i01.head.jaw.setRest(65)
i01.head.rothead.setRest(100)
i01.head.neck.setRest(100)
i01.head.eyeX.setRest(90)
 
i01.rightHand.wrist.setRest(164)
i01.leftHand.wrist.setRest(45)
 
i01.rightArm.bicep.setRest(15)
i01.rightArm.rotate.setRest(100)
i01.rightArm.shoulder.setRest(25)
i01.rightArm.omoplate.setRest(85)
 
i01.leftArm.bicep.setRest(5)
i01.leftArm.rotate.setRest(50)
i01.leftArm.shoulder.setRest(35)
i01.leftArm.omoplate.setRest(110)
 
# set servo rest positions
 
# how to invert the left hand fingers begin
i01.leftHand.thumb.setInverted(True)
i01.leftHand.index.setInverted(True)
i01.leftHand.majeure.setInverted(True)
i01.leftHand.ringFinger.setInverted(True)
i01.leftHand.pinky.setInverted(True)
# how to invert the left hand fingers end
 
 
i01.startPIR("COM5",12)
 
# arduino.addListener("publishPin", python.getName(), "input")
# arduino.setSampleRate(8000)
# arduino.digitalReadPollStart(12)
#head.setSpeed(0.5, 0.5, 0.5, 0.5, 0.5)
 
def input():
    # print 'python object is ', msg_clock_pulse
    pin = msg_i01_right_publishPin.data[0]
    print 'pin data is ', pin.pin, pin.value
    if (pin.value == 1):
      mouth.speak("howdy partner")
      #head.neck.moveTo(85)
      #sleep(2)
      #head.neck.moveTo(90)
 
 
 
 
 
# starting part with a reference, with a reference
# you can interact further
#opencv = i01.startOpenCV()
#sleep(1)
#opencv.startCapture()
#sleep(1)
# or you can use i01's reference
#i01.opencv.startCapture()
 
# after a start you may call detach to detach all
# currently attached servos
#i01.detach()
#i01.attach()
 
# auto detaches any attached servos after 120 seconds of inactivity
i01.autoPowerDownOnInactivity()
 
# purges any "auto" methods
#i01.purgeAllTasks()
 
# remote control services
# WebGUI - for more information see
 
# XMPP - for more information see
 
# system check - called at anytime
 
 
i01.systemCheck()
 
# take the current position of all attached servos <- FIXME
# and create a new method named "newGesture"
#i01.captureGesture("newGesture")
 
# all ear associations are done python startEar() only starts
# the peer service
# After ear.startListening(), the ear will listen for commands
 
# i01.systemCheck()
# i01.rest()
 
 
 
# verbal commands
ear = i01.ear
 
# commands with i01.getName() use the InMoov service methods
ear.addCommand("attach", i01.getName(), "attach")
ear.addCommand("detach", i01.getName(), "detach")
ear.addCommand("rest", i01.getName(), "rest")
 
ear.addCommand("power down", i01.getName(), "powerDown")
ear.addCommand("power up", i01.getName(), "powerUp")
 
ear.addCommand("open hand", i01.getName(), "handOpen", "both")
ear.addCommand("close hand", i01.getName(), "handClose", "both")
ear.addCommand("camera on", i01.getName(), "cameraOn")
ear.addCommand("off camera", i01.getName(), "cameraOff")
ear.addCommand("capture gesture", i01.getName(), "captureGesture")
 
# FIXME - lk tracking setpoint
ear.addCommand("track", i01.getName(), "track")
ear.addCommand("freeze track", i01.getName(), "clearTrackingPoints")
ear.addCommand("hello", "python", "hello")
ear.addCommand("giving", i01.getName(), "giving")
ear.addCommand("fighter", i01.getName(), "fighter")
ear.addCommand("fist hips", i01.getName(), "fistHips")
ear.addCommand("look at this", i01.getName(), "lookAtThis")
ear.addCommand("victory", i01.getName(), "victory")
ear.addCommand("arms up", i01.getName(), "armsUp")
ear.addCommand("arms front", i01.getName(), "armsFront")
ear.addCommand("da vinci", i01.getName(), "daVinci")
 
ear.addCommand("manual", ear.getName(), "lockOutAllGrammarExcept", "voice control")
ear.addCommand("voice control", ear.getName(), "clearLock")
ear.addCommand("stop listening", ear.getName(), "stopListening")
 
##sets the servos back to full speed, anywhere in sequence or gestures
ear.addCommand("full speed", "python", "fullspeed")
##sequence1
ear.addCommand("grab the bottle", "python", "grabthebottle")
ear.addCommand("take the glass", "python", "grabtheglass")
ear.addCommand("poor bottle", "python", "poorbottle")
ear.addCommand("give the glass", "python", "givetheglass")
##sequence2
ear.addCommand("take the ball", "python", "takeball")
ear.addCommand("keep the ball", "python", "keepball")
ear.addCommand("approach the left hand", "python", "approachlefthand")
ear.addCommand("use the left hand", "python", "uselefthand")
ear.addCommand("more", "python", "more")
ear.addCommand("hand down", "python", "handdown")
ear.addCommand("is it a ball", "python", "isitaball")
ear.addCommand("put it down", "python", "putitdown")
ear.addCommand("drop it", "python", "dropit")
ear.addCommand("remove your left arm", "python", "removeleftarm")
ear.addCommand("further", "python", "further")
##extras
ear.addCommand("perfect", "python", "perfect")
ear.addCommand("delicate grab", "python", "delicategrab")
ear.addCommand("release delicate", "python", "releasedelicate")
ear.addCommand("open your right hand", "python", "openrighthand")
ear.addCommand("open your left hand", "python", "openlefthand")
ear.addCommand("surrender", "python", "surrender")
ear.addCommand("picture on the right side", "python", "picturerightside")
ear.addCommand("picture on the left side", "python", "pictureleftside")
ear.addCommand("picture on both sides", "python", "picturebothside")
ear.addCommand("before happy", "python", "beforehappy")
ear.addCommand("happy birthday", "python", "happy")
#ear.addCommand("photo", "python", "photo")
ear.addCommand("about", "python", "about")
ear.addCommand("servo", "python", "servos")
ear.addCommand("how many fingers do you have", "python", "howmanyfingersdoihave")
 
ear.addComfirmations("yes","correct","ya") 
ear.addNegations("no","wrong","nope","nah")
 
ear.startListening()
 
def fullspeed():
  i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(1.0, 1.0)
 
def delicategrab():
  i01.setHandSpeed("left", 0.60, 0.60, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.65, 0.75)
  i01.moveHead(21,98)
  i01.moveArm("left",30,72,77,10)
  i01.moveArm("right",0,91,28,17)
  i01.moveHand("left",131,130,4,0,0,180)
  i01.moveHand("right",86,51,133,162,153,180)
 
def perfect():
  i01.setHandSpeed("left", 0.80, 0.80, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 0.85, 0.85, 0.85, 0.95)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.65, 0.75)
  i01.moveHead(88,79)
  i01.moveArm("left",89,75,93,11)
  i01.moveArm("right",0,91,28,17)
  i01.moveHand("left",120,130,60,40,0,34)
  i01.moveHand("right",86,51,133,162,153,180)
 
def releasedelicate():
  i01.setHandSpeed("left", 0.60, 0.60, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 0.75, 0.75, 0.75, 0.95)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.65, 0.75)
  i01.moveHead(20,98)
  i01.moveArm("left",30,72,64,10)
  i01.moveArm("right",0,91,28,17)
  i01.moveHand("left",101,74,66,58,44,180)
  i01.moveHand("right",86,51,133,162,153,180)
 
def grabthebottle():
  i01.setHandSpeed("left", 1.0, 0.80, 0.80, 0.80, 1.0, 0.80)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.90, 0.80)
  i01.moveHead(20,88)
  i01.moveArm("left",77,85,45,15)
  i01.moveArm("right",0,90,30,10)
  i01.moveHand("left",109,138,180,109,180,93)
  i01.moveHand("right",0,0,0,0,0,90)
 
def grabtheglass():
  i01.setHandSpeed("left", 0.60, 0.60, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 0.60, 0.60, 1.0, 1.0, 0.70)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(20,68)
  i01.moveArm("left",77,85,45,15)
  i01.moveArm("right",48,91,72,10)
  i01.moveHand("left",109,138,180,109,180,93)
  i01.moveHand("right",140,95,100,105,143,90)
 
def poorbottle():
  i01.setHandSpeed("left", 0.60, 0.60, 0.60, 0.60, 0.60, 0.60)
  i01.setHandSpeed("right", 0.60, 0.80, 0.60, 0.60, 0.60, 0.60)
  i01.setArmSpeed("left", 0.60, 0.60, 0.60, 0.60)
  i01.setArmSpeed("right", 0.60, 0.60, 0.60, 0.60)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(20,84)
  i01.moveArm("left",58,40,95,30)
  i01.moveArm("right",68,74,43,10)
  i01.moveHand("left",109,138,180,109,180,4)
  i01.moveHand("right",145,95,110,105,143,90)
 
def givetheglass():
  i01.setHandSpeed("left", 0.60, 0.60, 0.60, 0.60, 0.60, 0.60)
  i01.setHandSpeed("right", 0.60, 0.80, 0.60, 0.60, 0.60, 0.60)
  i01.setArmSpeed("left", 0.60, 0.60, 0.60, 0.60)
  i01.setArmSpeed("right", 0.60, 0.60, 0.60, 0.60)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(47,79)
  i01.moveArm("left",77,75,45,17)
  i01.moveArm("right",21,80,77,10)
  i01.moveHand("left",109,138,180,109,180,93)
  i01.moveHand("right",102,41,72,105,143,90)
 
def takeball():
  i01.setHandSpeed("right", 0.75, 0.75, 0.75, 0.75, 0.85, 0.75)
  i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(30,70)
  i01.moveArm("left",0,84,16,15)
  i01.moveArm("right",6,73,76,16)
  i01.moveHand("left",50,50,40,20,20,90)
  i01.moveHand("right",150,153,153,153,153,11)
 
 
def keepball():
  i01.setHandSpeed("left", 0.65, 0.65, 0.65, 0.65, 0.65, 1.0)
  i01.setHandSpeed("right", 0.65, 0.65, 0.65, 0.65, 0.65, 1.0)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.75, 0.85, 0.95, 0.85)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(20,70)
  i01.moveArm("left",0,84,16,15)
  i01.moveArm("right",54,77,55,16)
  i01.moveHand("left",50,65,80,46,74,90)
  i01.moveHand("right",40,40,40,106,180,0)
 
def approachlefthand():
  i01.setHandSpeed("right", 0.75, 0.75, 0.75, 0.75, 0.75, 0.65)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.25, 0.25, 0.25, 0.25)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(20,70)
  i01.moveArm("left",90,52,59,23)
  i01.moveArm("right",54,77,55,16)
  i01.moveHand("left",50,28,30,10,10,15)
  i01.moveHand("right",30,30,30,106,180,0)
 
def uselefthand():
  i01.setHandSpeed("right", 0.75, 0.75, 0.75, 0.75, 0.75, 0.65)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.25, 0.25, 0.25, 0.25)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(18,84)
  i01.moveArm("left",90,52,59,23)
  i01.moveArm("right",60,64,55,16)
  i01.moveHand("left",50,28,30,10,10,15)
  i01.moveHand("right",20,20,20,106,180,0)
 
 
def more():
  i01.setHandSpeed("right", 0.75, 0.75, 0.75, 0.75, 0.75, 0.65)
  i01.setArmSpeed("left", 0.85, 0.85, 0.85, 0.95)
  i01.setArmSpeed("right", 0.75, 0.65, 0.65, 0.65)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(16,84)
  i01.moveArm("left",90,52,59,23)
  i01.moveArm("right",65,56,59,16)
  i01.moveHand("left",145,75,148,85,10,15)
  i01.moveHand("right",20,20,20,106,180,0)
 
 
 
def handdown():
  i01.setHandSpeed("left", 0.75, 0.75, 0.75, 0.75, 0.75, 0.75)
  i01.setHandSpeed("right", 0.70, 0.70, 0.70, 0.70, 0.70, 1.0)
  i01.moveHead(16,84)
  i01.moveArm("left",90,52,59,23)
  i01.moveArm("right",39,56,59,16)
  i01.moveHand("left",145,75,148,85,10,15)
  i01.moveHand("right",103,66,84,106,180,0)
 
def isitaball():
  i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.75, 0.85, 0.90, 0.85)
  i01.setHeadSpeed(0.65, 0.75)
  i01.moveHead(65,74)
  i01.moveArm("left",70,64,87,15)
  i01.moveArm("right",0,82,33,15)
  i01.moveHand("left",147,130,140,34,34,164)
  i01.moveHand("right",20,40,40,30,30,80)
  sleep(2)
 
def putitdown():
  i01.setHandSpeed("left", 0.90, 0.90, 0.90, 0.90, 0.90, 0.90)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.75, 0.85, 0.95, 0.85)
  i01.setHeadSpeed(0.75, 0.75)
  i01.moveHead(20,99)
  i01.moveArm("left",1,45,87,31)
  i01.moveArm("right",0,82,33,15)
  i01.moveHand("left",147,130,135,34,34,35)
  i01.moveHand("right",20,40,40,30,30,72)
  sleep(2)
 
def dropit():
  i01.setHandSpeed("left", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.75, 0.85, 1.0, 0.85)
  i01.setHeadSpeed(0.75, 0.75)
  i01.moveHead(20,99)
  i01.moveArm("left",1,45,87,31)
  i01.moveArm("right",0,82,33,15)
  sleep(3)
  i01.moveHand("left",60,61,67,34,34,35)
  i01.moveHand("right",20,40,40,30,30,72)
 
 
def removeleftarm():
  i01.setHandSpeed("left", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.95, 0.65, 0.75, 0.75)
  i01.setHeadSpeed(0.75, 0.75)
  i01.moveHead(20,100)
  i01.moveArm("left",71,94,41,31)
  i01.moveArm("right",0,82,28,15)
  i01.moveHand("left",60,43,45,34,34,35)
  i01.moveHand("right",20,40,40,30,30,72)
 
 
def further():
  i01.setHandSpeed("left", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
  i01.setHandSpeed("right", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.95, 0.65, 0.75, 0.75)
  i01.setHeadSpeed(0.75, 0.75)
  i01.moveHead(79,100)
  i01.moveArm("left",0,94,28,15)
  i01.moveArm("right",0,82,28,15)
  i01.moveHand("left",42,58,87,55,71,35)
  i01.moveHand("right",81,50,82,60,105,113)
 
 
def openlefthand():
  i01.moveHand("left",0,0,0,0,0,0)
 
 
def openrighthand():
  i01.moveHand("right",0,0,0,0,0,0)
 
 
def surrender():
  i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.75, 0.85, 0.95, 0.85)
  i01.setArmSpeed("left", 0.75, 0.85, 0.95, 0.85)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(90,90)
  i01.moveArm("left",90,139,15,80)
  i01.moveArm("right",90,145,37,80)
  i01.moveHand("left",50,28,30,10,10,76)
  i01.moveHand("right",10,10,10,10,10,139)
 
def pictureleftside():
  i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 0.75, 0.85, 0.95, 0.85)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(109,90)
  i01.moveArm("left",90,105,24,80)
  i01.moveArm("right",0,82,28,15)
  i01.moveHand("left",50,86,97,74,106,119)
  i01.moveHand("right",81,65,82,60,105,113)
 
def picturerightside():
  i01.setHandSpeed("left", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(109,90)
  i01.moveArm("left",0,94,28,15)
  i01.moveArm("right",90,115,23,68)
  i01.moveHand("left",42,58,87,55,71,35)
  i01.moveHand("right",10,112,95,91,125,45)
 
def picturebothside():
  i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
  i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
  i01.setHeadSpeed(0.65, 0.65)
  i01.moveHead(109,90)
  i01.moveArm("left",90,105,24,80)
  i01.moveArm("right",90,115,23,68)
  i01.moveHand("left",50,86,97,74,106,119)
  i01.moveHand("right",10,112,95,91,125,45)
 
# power up and power down are implemented in the
# InMoov service now
#
#def powerdown():
# sleep(2)
# ear.pauseListening()
# i01.rest()
# i01.mouth.speakBlocking("I'm powering down")
# sleep(2)
# i01.moveHead(40, 85);
# sleep(4)
# rightSerialPort.digitalWrite(53, Arduino.LOW)
# leftSerialPort.digitalWrite(53, Arduino.LOW)
# ear.lockOutAllGrammarExcept("power up")
# sleep(2)
# ear.resumeListening()
#
#def powerup():
# sleep(2)
# ear.pauseListening()
# #rightSerialPort.digitalWrite(53, Arduino.HIGH)
# #leftSerialPort.digitalWrite(53, Arduino.HIGH)
# i01.mouth.speakBlocking("Im powered up")
# i01.rest()
# ear.clearLock()
# sleep(2)
# ear.resumeListening()
# attach()
 
def hello():
     i01.setHandSpeed("left", 0.60, 0.60, 1.0, 1.0, 1.0, 1.0)
     i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
     i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
     i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
     i01.setHeadSpeed(0.65, 0.75)
     i01.moveHead(105,78)
     i01.moveArm("left",78,48,37,10)
     i01.moveArm("right",90,144,60,75)
     i01.moveHand("left",112,111,105,102,81,10)
     i01.moveHand("right",0,0,0,50,82,180)
     ear.pauseListening()
     sleep(1)
 
     for w in range(0,3):
          i01.setHandSpeed("left", 0.60, 0.60, 1.0, 1.0, 1.0, 1.0)
          i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 0.60)
          i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
          i01.setArmSpeed("right", 0.60, 1.0, 1.0, 1.0)
          i01.setHeadSpeed(0.65, 0.75)
          i01.moveHead(83,98)
          i01.moveArm("left",78,48,37,10)
          i01.moveArm("right",90,157,47,75)
          i01.moveHand("left",112,111,105,102,81,10)
          i01.moveHand("right",3,0,62,41,117,94)
          sleep(1)
 
          if w==1:
    i01.mouth.speakBlocking("hello, my name is inmov")
    i01.setHandSpeed("left", 0.60, 0.60, 1.0, 1.0, 1.0, 1.0)
    i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 0.60)
    i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
    i01.setArmSpeed("right", 0.65, 1.0, 1.0, 1.0)
    i01.setHeadSpeed(0.65, 0.75)
    i01.moveHead(83,70)
    i01.moveArm("left",78,48,37,10)
    i01.moveArm("right",57,145,50,68)
    i01.moveHand("left",100,90,85,80,71,15)
    i01.moveHand("right",3,0,31,12,26,45)
    sleep(1)
    i01.moveHead(83,98)
    i01.moveArm("left",78,48,37,10)
    i01.moveArm("right",90,157,47,75)
    i01.moveHand("left",112,111,105,102,81,10)
    i01.moveHand("right",3,0,62,41,117,94)
    ear.resumeListening()
 
def photo():
i01.moveHead(87,60)
i01.moveArm("left",78,48,37,10)
i01.moveArm("right",46,147,5,75)
i01.moveHand("left",138,52,159,106,120,90)
i01.moveHand("right",80,65,94,63,70,140)
 
def beforehappy():
i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 1.0)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(84,88)
i01.moveArm("left",0,82,36,10)
i01.moveArm("right",74,112,61,29)
i01.moveHand("left",0,88,135,94,96,90)
i01.moveHand("right",81,79,118,47,0,90)
 
def happy():
     for w in range(0,3):
         sleep(1)
         i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
         i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
         i01.setArmSpeed("right", 0.85, 0.85, 0.85, 1.0)
         i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
         i01.setHeadSpeed(0.65, 0.65)
         i01.moveHead(84,88)
         i01.moveArm("left",0,82,36,10)
         i01.moveArm("right",74,112,61,29)
         i01.moveHand("left",0,88,135,94,96,90)
         i01.moveHand("right",81,79,118,47,0,90)
         sleep(1)
         if w==1:
    i10.mouth.speakBlocking("happy birthday grog")
    i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
    i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
    i01.setArmSpeed("right", 0.85, 0.85, 0.85, 1.0)
    i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
    i01.setHeadSpeed(0.65, 0.65)
    i01.moveHead(42,76)
    i01.moveArm("left",0,90,30,10)
    i01.moveArm("right",74,70,61,10)
    i01.moveHand("left",0,0,0,0,0,90)
    i01.moveHand("right",81,79,118,47,0,90)
    sleep(5)
    ear.resumeListening()
 
def about():
sleep(2)
ear.pauseListening()
sleep(2)
i01.setArmSpeed("right", 0.1, 0.1, 0.2, 0.2);
i01.setArmSpeed("left", 0.1, 0.1, 0.2, 0.2);
i01.setHeadSpeed(0.2,0.2)
i01.moveArm("right", 64, 94, 10, 10);
 
 
i01.mouth.speakBlocking("I am the first life size humanoid robot you can 3D print and animate")
i01.moveHead(65,66)
i01.moveArm("left", 64, 104, 10, 10);
i01.moveArm("right", 44, 84, 10, 10);
i01.mouth.speakBlocking("my designer creator is Gael Langevin a French sculptor, model maker")
i01.moveHead(75,86)
i01.moveArm("left", 54, 104, 10, 10);
i01.moveArm("right", 64, 84, 10, 20);
i01.mouth.speakBlocking("who has released my files  to the opensource 3D world.")
i01.moveHead(65,96)
i01.moveArm("left", 44, 94, 10, 20);
i01.moveArm("right", 54, 94, 20, 10);
i01.mouth.speakBlocking("this is where Joel, my builder downloaded my files.")
 
i01.moveHead(75,76)
i01.moveArm("left", 64, 94, 20, 10);
i01.moveArm("right", 34, 94, 10, 10);
i01.mouth.speakBlocking("after five hundred hours of printing, four kilos of plastic, twenty five hobby servos, blood and sweat.I was brought to life") # should be " i was borght to life."
i01.moveHead(65,86)
i01.moveArm("left", 24, 94, 10, 10);
i01.moveArm("right", 24, 94, 10, 10);
i01.mouth.speakBlocking("so if You have a 3D printer, some building skills, then you can build your own version of me") # mabe add in " alot of money"
i01.moveHead(85,86)
i01.moveArm("left", 4, 94, 20, 30);
i01.moveArm("right", 24, 124, 10, 20);
i01.mouth.speakBlocking("and if enough people build me, some day my kind could take over the world") # mabe add in " alot of money"
i01.moveHead(75,96)
i01.moveArm("left", 24, 104, 10, 10);
i01.moveArm("right", 4, 94, 20, 30);
i01.mouth.speakBlocking("I'm just kidding. i need some legs to get around, and i have to over come my  pyro-phobia, a fear of fire") # mabe add in " alot of money"
i01.moveHead(75,96)
i01.moveArm("left", 4, 94, 10, 10)
i01.moveArm("right", 4, 94, 10, 10);
i01.mouth.speakBlocking("so, until then. i will be humankind's humble servant")
 
i01.rest()
i01.setArmSpeed("right", 1, 1, 1, 1);
i01.setArmSpeed("left", 1, 1, 1, 1);
i01.setHeadSpeed(1,1)
sleep(2)
ear.resumeListening()
 
def servos():
ear.pauseListening()
sleep(2)
i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(79,100)
i01.moveArm("left",0,119,28,15)
i01.moveArm("right",0,111,28,15)
i01.moveHand("left",42,58,87,55,71,35)
i01.moveHand("right",81,20,82,60,105,113)
i01.mouth.speakBlocking("I currently have twenty five  hobby servos installed in my body to give me life")
i01.setHandSpeed("left", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(124,90)
i01.moveArm("left",89,94,91,35)
i01.moveArm("right",20,67,31,22)
i01.moveHand("left",106,41,161,147,138,90)
i01.moveHand("right",0,0,0,54,91,90)
i01.mouth.speakBlocking("there's one servo  for moving my mouth up and down")
sleep(1)
i01.setHandSpeed("left", 0.85, 0.85, 1.0, 0.85, 0.85, 0.85)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(105,76);
i01.moveArm("left",89,106,103,35);
i01.moveArm("right",35,67,31,22);
i01.moveHand("left",106,41,31,147,138,7);
i01.moveHand("right",0,0,0,54,91,90);
i01.mouth.speakBlocking("two for my eyes")
sleep(0.2)
i01.setHandSpeed("left", 0.85, 0.85, 1.0, 1.0, 1.0, 0.85)
i01.moveHand("left",106,41,31,31,31,7);
i01.mouth.speakBlocking("and two more for my head")
sleep(0.5)
i01.setHandSpeed("left", 0.85, 0.9, 0.9, 0.9, 0.9, 0.85)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(90,40);
i01.moveArm("left",89,106,103,35);
i01.moveArm("right",35,67,31,20);
i01.moveHand("left",106,140,140,140,140,7);
i01.moveHand("right",0,0,0,54,91,90);
i01.mouth.speakBlocking("so i can look around")
sleep(0.5)
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(105,125);
i01.setArmSpeed("left", 0.9, 0.9, 0.9, 0.9)
i01.moveArm("left",60,100,85,30);
i01.mouth.speakBlocking("and see who's there")
i01.setHeadSpeed(0.65, 0.65)
i01.moveHead(40,56);
sleep(0.5)
i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0);
i01.setArmSpeed("right", 0.5, 0.6, 0.5, 0.6);
i01.moveArm("left",87,41,64,10)
i01.moveArm("right",0,95,40,10)
i01.moveHand("left",98,150,160,160,160,104)
i01.moveHand("right",0,0,50,54,91,90);
i01.mouth.speakBlocking("there's three servos  in each shoulder")
i01.moveHead(40,67);
sleep(2)
i01.setHandSpeed("left", 0.8, 0.9, 0.8, 0.8, 0.8, 0.8)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.8, 0.8)
i01.moveHead(43,69)
i01.moveArm("left",87,41,64,10)
i01.moveArm("right",0,95,40,42)
i01.moveHand("left",42,0,100,80,113,35)
i01.moveHand("left",42,10,160,160,160,35)
i01.moveHand("right",81,20,82,60,105,113)
i01.mouth.speakBlocking("here is the first servo movement")
sleep(1)
i01.moveHead(37,60);
i01.setHandSpeed("left", 1.0, 1.0, 0.9, 0.9, 1.0, 0.8)
i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
i01.moveArm("right",0,95,67,42)
i01.moveHand("left",42,10,10,160,160,30)
i01.mouth.speakBlocking("this is the second one")
sleep(1)
i01.moveHead(43,69);
i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
i01.moveArm("right",0,134,67,42)
i01.moveHand("left",42,10,10,10,160,35)
i01.mouth.speakBlocking("now you see the third")
sleep(1)
i01.setArmSpeed("right", 0.8, 0.8, 0.8, 0.8)
i01.moveArm("right",20,90,45,16)
i01.mouth.speakBlocking("they give me a more human like movement")
sleep(1)
i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0);
i01.moveHead(43,72)
i01.moveArm("left",90,44,66,10)
i01.moveArm("right",90,100,67,26)
i01.moveHand("left",42,80,100,80,113,35)
i01.moveHand("right",81,0,82,60,105,69)
i01.mouth.speakBlocking("but, i have only  one servo, to move each elbow")
i01.setHandSpeed("left", 0.85, 0.85, 0.85, 0.85, 0.85, 0.85)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 0.85, 0.85, 0.85, 0.85)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.8, 0.8)
i01.moveHead(45,62)
i01.moveArm("left",72,44,90,10)
i01.moveArm("right",90,95,68,15)
i01.moveHand("left",42,0,100,80,113,35)
i01.moveHand("right",81,0,82,60,105,0)
i01.mouth.speakBlocking("that, leaves me, with one servo per wrist")
i01.moveHead(40,60)
i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setHandSpeed("right", 0.9, 0.9, 0.9, 0.9, 0.9, 0.9)
i01.moveArm("left",72,44,90,9)
i01.moveArm("right",90,95,68,15)
i01.moveHand("left",42,0,100,80,113,35)
i01.moveHand("right", 10, 140,82,60,105,10)
i01.mouth.speakBlocking("and one servo for each finger.")
sleep(0.5)
i01.moveHand("left",42,0,100,80,113,35)
i01.moveHand("right", 50, 51, 15,23, 30,140);
i01.mouth.speakBlocking("these servos are located in my forearms")
i01.setHandSpeed("left", 0.8, 0.8, 0.8, 0.8,0.8, 0.8)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.moveHand("left", 36, 52, 8,22, 20);
i01.moveHand("right", 120, 147, 130,110, 125);
further()
sleep(1)
i01.mouth.speakBlocking("they are hooked up, by the use of tendons")
i01.moveHand("left",10,20,30,40,60,150);
i01.moveHand("right",110,137,120,100,105,130);
i01.setHeadSpeed(1,1)
i01.setArmSpeed("right", 1.0,1.0, 1.0, 1.0);
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0);
further()
sleep(2)
ear.resumeListening()
 
def howmanyfingersdoihave():
     ear.pauseListening()
     sleep(1)
     i01.moveHead(49,74)
     i01.moveArm("left",75,83,79,24)
     i01.moveArm("right",65,82,71,24)
     i01.moveHand("left",74,140,150,157,168,92)
     i01.moveHand("right",89,80,98,120,114,0)
     sleep(2)
     i01.moveHand("right",0,80,98,120,114,0)
     i01.mouth.speakBlocking("ten")
 
     sleep(.1)
     i01.moveHand("right",0,0,98,120,114,0)
     i01.mouth.speakBlocking("nine")
 
     sleep(.1)
     i01.moveHand("right",0,0,0,120,114,0)
     i01.mouth.speakBlocking("eight")
 
     sleep(.1)
     i01.moveHand("right",0,0,0,0,114,0)
     i01.mouth.speakBlocking("seven")
 
     sleep(.1)
     i01.moveHand("right",0,0,0,0,0,0)
     i01.mouth.speakBlocking("six")
 
     sleep(.5)
     i01.setHeadSpeed(.70,.70)
     i01.moveHead(40,105)
     i01.moveArm("left",75,83,79,24)
     i01.moveArm("right",65,82,71,24)
     i01.moveHand("left",0,0,0,0,0,180)
     i01.moveHand("right",0,0,0,0,0,0)
     sleep(0.1)
     i01.mouth.speakBlocking("and five makes eleven")
 
     sleep(0.7)
     i01.setHeadSpeed(0.7,0.7)
     i01.moveHead(40,50)
     sleep(0.5)
     i01.setHeadSpeed(0.7,0.7)
     i01.moveHead(49,105)
     sleep(0.7)
     i01.setHeadSpeed(0.7,0.8)
     i01.moveHead(40,50)
     sleep(0.7)
     i01.setHeadSpeed(0.7,0.8)
     i01.moveHead(49,105)
     sleep(0.7)
     i01.setHeadSpeed(0.7,0.7)
     i01.moveHead(90,85)
     sleep(0.7)
     i01.mouth.speakBlocking("eleven")
     i01.moveArm("left",70,75,70,20)
     i01.moveArm("right",60,75,65,20)
     sleep(1)
     i01.mouth.speakBlocking("that doesn't seem right")
     sleep(2)
     i01.mouth.speakBlocking("I think I better try that again")
 
     i01.moveHead(40,105)
     i01.moveArm("left",75,83,79,24)
     i01.moveArm("right",65,82,71,24)
     i01.moveHand("left",140,168,168,168,158,90)
     i01.moveHand("right",87,138,109,168,158,25)
     sleep(2)
 
     i01.moveHand("left",10,140,168,168,158,90)
     i01.mouth.speakBlocking("one")
     sleep(.1)
 
 
     i01.moveHand("left",10,10,168,168,158,90)
     i01.mouth.speakBlocking("two")
     sleep(.1)
 
     i01.moveHand("left",10,10,10,168,158,90)
     i01.mouth.speakBlocking("three")
     sleep(.1)
     i01.moveHand("left",10,10,10,10,158,90)
 
     i01.mouth.speakBlocking("four")
     sleep(.1)
     i01.moveHand("left",10,10,10,10,10,90)
 
     i01.mouth.speakBlocking("five")
     sleep(.1)
     i01.setHeadSpeed(0.65,0.65)
     i01.moveHead(53,65)
     i01.moveArm("right",48,80,78,10)
     i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
     i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
     i01.moveHand("left",10,10,10,10,10,90)
     i01.moveHand("right",10,10,10,10,10,25)
     sleep(1)
     i01.mouth.speakBlocking("and five makes ten")
     sleep(.5)
     i01.mouth.speakBlocking("there that's better")
     i01.moveHead(95,85)
     i01.moveArm("left",75,83,79,24)
     i01.moveArm("right",40,70,70,10)
     sleep(0.5)
     i01.mouth.speakBlocking("i01 has ten fingers")
     sleep(0.5)
     i01.moveHead(90,90)
     i01.setHandSpeed("left", 0.8, 0.8, 0.8, 0.8, 0.8, 0.8)
     i01.setHandSpeed("right", 0.8, 0.8, 0.8, 0.8, 0.8, 0.8)
     i01.moveHand("left",140,140,140,140,140,60)
     i01.moveHand("right",140,140,140,140,140,60)
     sleep(1.0)
     i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
     i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
     i01.moveArm("left",0,90,30,10)
     i01.moveArm("right",0,90,30,10)
     sleep(0.5)
     further()
     sleep(0.5)
 
     ear.resumeListening()
 
Getting Started