InMoov

Service	Name	Quantity	Description
	PointCloud		Development to integrate Kinect or Xtion sensor to generated 3D point cloud for SLAM and internal mapping

 

Default Hardware Map
 

Although other boards and board configurations are possible the "default" one is 1 Arduino Mega (left side & Head) and 1 Arduino Uno (right side)

 

group	part name	Uno	Mega	default pin	rest	min	max
hand	thumb	right	left	2	0
	index	right	left	3	0
	majeure	right	left	4	0
	ringFinger	right	left	5	0
	pinky	right	left	6	0
	wrist	right	left	7	90
arm	bicep	right	left	8	0		90
	rotate	right	left	9	90	40
	shoulder	right	left	10	30
	omoplate	right	left	11	10	10	80
head	neck		x	12	90	20	160
	rothead		x	13	90	30	150
	jaw		x	26
	eyeX		x	22	80	60	100
	eyeY		x	24	90	50	100

 

Tutorials

Here is a minimal script to test InMoov, starting a single hand:

 

---

#file : /service/InMoov.py edit raw

# a very minimal script for InMoov
# although this script is very short you can still
# do voice control of a right hand or finger box
# for any command which you say - you will be required to say a confirmation
# e.g. you say -> open hand, InMoov will ask -> "Did you say open hand?", you will need to
# respond with a confirmation ("yes","correct","yeah","ya")

rightPort = "COM8"

i01 = Runtime.createAndStart("i01", "InMoov")
# starting parts
i01.startEar()
i01.startMouth()
#to tweak the default voice
i01.mouth.setGoogleURI("http://thehackettfamily.org/Voice_api/api2.php?voice=Ryan&txt=")
##############
i01.startRightHand(rightPort)
# tweaking defaults settings of right hand
#i01.rightHand.thumb.setMinMax(55,135)
#i01.rightHand.index.setMinMax(0,160)
#i01.rightHand.majeure.setMinMax(0,140)
#i01.rightHand.ringFinger.setMinMax(48,145)
#i01.rightHand.pinky.setMinMax(45,146)
#i01.rightHand.thumb.map(0,180,55,135)
#i01.rightHand.index.map(0,180,0,160)
#i01.rightHand.majeure.map(0,180,0,140)
#i01.rightHand.ringFinger.map(0,180,48,145)
#i01.rightHand.pinky.map(0,180,45,146)
#################

# verbal commands
ear = i01.ear

ear.addCommand("attach right hand", "i01.rightHand", "attach")
ear.addCommand("disconnect right hand", "i01.rightHand", "detach")
ear.addCommand("rest", i01.getName(), "rest")
ear.addCommand("open hand", "python", "handopen")
ear.addCommand("close hand", "python", "handclose")
ear.addCommand("capture gesture", ear.getName(), "captureGesture")
ear.addCommand("manual", ear.getName(), "lockOutAllGrammarExcept", "voice control")
ear.addCommand("voice control", ear.getName(), "clearLock")
 
ear.addComfirmations("yes","correct","yeah","ya")
ear.addNegations("no","wrong","nope","nah")

ear.startListening()

def handopen():
  i01.moveHand("left",0,0,0,0,0)
  i01.moveHand("right",0,0,0,0,0)

def handclose():
  i01.moveHand("left",180,180,180,180,180)
  i01.moveHand("right",180,180,180,180,180)

 

Here is a minimal script to test InMoov, starting just the head :

 

---

#file : /service/InMoovHead.py edit raw

#tweak these values to match the port of your Arduino!
headPort = "COM5"
mouthPort="COM5"

#starting the InMoov-service 
i01 = Runtime.createAndStart("i01", "InMoov")

#starting the mouth
i01.startMouth()
#set a custom voice
i01.mouth.setVoice("Ryan")

#start the (InMoov-)head(-service) 
head = i01.startHead(headPort)

#start the head- & eyes-tracking(-services)
headTracking = i01.startHeadTracking(headPort)
eyesTracking= i01.startEyesTracking(headPort)

#start the head- & eyes-tracking 
i01.headTracking.startLKTracking()
i01.eyesTracking.startLKTracking()

#custom smoothing values for the tracking-services 
i01.headTracking.xpid.setPID(10.0,5.0,0.1)
i01.headTracking.ypid.setPID(15.0,5.0,0.1)
i01.eyesTracking.xpid.setPID(15.0,5.0,0.1)
i01.eyesTracking.ypid.setPID(15.0,5.0,0.1)

#start the ear(-service)
i01.startEar()

############################################################
#min- & max-values for the servos
#i01.head.eyeY.setMinMax(22,85)
#i01.head.eyeX.setMinMax(60,85)
#i01.head.eyeY.setRest(45)
#i01-head.eyeX.setRest(45)
#i01.head.jaw.setMinMax(10,75)
#i01.mouthControl.setmouth(75,55)
############################################################
 

#verbal commands 
ear = i01.ear
 
ear.addCommand("attach", "i01", "attach")
ear.addCommand("detach", "i01", "detach")
ear.addCommand("track humans", "python", "trackHumans")
ear.addCommand("track point", "python", "trackPoint")
ear.addCommand("stop tracking", "python", "stopTracking")
ear.addCommand("rest position", "i01.head", "rest")
 
 
ear.addComfirmations("yes", "correct", "yeah", "ya")
ear.addNegations("no", "wrong", "nope", "nah")
 


def trackHumans():
  i01.headTracking.faceDetect()
  i01.eyesTracking.faceDetect()

def trackPoint():
  i01.headTracking.startLKTracking()
  i01.eyesTracking.startLKTracking()

def stopTracking():
  i01.headTracking.stopTracking()
  i01.eyesTracking.stopTracking()
  

# all commands MUST be before startListening  
ear.startListening()

 

If you are interested in helping - let me know !
Thanks,
GroG