InMoov

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InMoov

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Submitted by hairygael on Sat, 11/17/2012 - 16:17

- Presentation

- Full program setup howto

- Change language

- DIY & test scripts

- Future

- Presentation

The InMoov service allows control of the InMoov robot. This robot was created by Gael Langevin.

It's an open source 3D printable robot. All of the parts and instructions to build are on the website http://www.inmoov.fr

InMoov is a composite of servos, Arduinos, microphone, camera, kinect and computer. The InMoov service is composed of many other peer services, and allows easy initialization and control of these sub systems.

Current Services used by InMoov main service

Name	Config files description : wiki	Description	Voice command sample

InMoov	_InMoov.config	A composite service to control and allow easy operation of other all of InMoov's subsystems	REST METS TOI AU REPOS

InMoovArm	skeleton_rightArm.config skeleton_leftArm.config		DA VINCI
InMoovEyelids	skeleton_eyeLids.config
InMoovHand	skeleton_leftHand.config		OPEN YOUR RIGHT HAND OUVRE TA MAIN DROITE
InMoovHead	skeleton_head.config		TILT YOUR HEAD ON THE RIGHT SIDE PENCHE LA TÊTE A DROITE
InMoovTorso	skeleton_torso.config

Arduino	service_6_Arduino.config	Arduino control of the left, right sides of InMoov + 1 deported nano for Neopixel
Servo		A software servo service for motorized control and articulation of InMoov body parts
Tracking	service_D_OpenCv.config	A service which allows a pan / tilt camera system to track things	LOOK AT ME REGARDE MOI
Speech	service_5_Mouth.config	A service to synthesise speech, basic multi-lingual capability MarySpeech Polly VoiceRss LocalSpeech IndianTts	SAY HELLO DIS BONJOUR
AzureTranslator	service_G_Translator.config	Use some Api to translate what the robot ear	TRANSLATE hi IN japanese TRADUIT bonjour EN japonais
WebGui	service_0_WebGui.config	The WebGUI is a mini webserver and websocket server
ChatBot	service_A_Chatbot.config	Globalized AliceBot fork	*
AudioFile		A service to play audio files voice command	WHAT ABOUT STAR WARS A PROPOS DE STAR WARS
PID	service_D_OpenCv.config	An important service to implement a PID (proportional integral derivative) controller - e.g. allows smooth tracking of objects
PIR	service_C_Pir.config	Human basic detecor	GO TO SLEEP FAIS DODO
UltrasonicSensor	service_I_UltraSonicSensor.config	Ultrasonic sensor for distance calculation	MEASURING THE DISTANCE MESURE LA DISTANCE
OpenCV	service_D_OpenCv.config	The vision service which wraps opencv
OpenNi	service_E_OpenNI.config	Useful to use a Kinect	BODY CAPTURE TRACKING SQUELETTE
Python		A python scripting IDE
SwingGui		A Swing graphical user interface
Voice recognition	service_4_Ear.config	speech recognition service WebkitSpeechRecognition AndroidSpeechRecognition Sphinx
Neopixel	service_9_neoPixel.config	Neopixel control service
OpenWeatherMap	service_H_OpenWeatherMap	Forecast	WHAT IS THE FORECAST MÉTÉO
WikiDataFetcher		Knowledge bible	QUELLE EST LA HAUTEUR DE LA TOUT EIFFEL

Those services cooked to give life to InMoov :

- Full installation

   - Overview
   - Setup software
   - Setup hardware
   - Extra services

Overview

InMoov is powered by MyRobotLab a java framework, hardware ( arduino ) is driven by a embeded protocol ( mrlcomm it is the sketch you need to put inside the arduino ) . Mrlcomm transform for you arduino code to easy undertandable & standardized methods. So every scripting methods are done in Python to end user side.

Setup software

Download JAVA 8 - https://www.java.com/fr/download/manual.jsp ( if your computer is 64bit, please take 64bit version )
CHROME - set it default - https://www.google.fr/chrome/browser/desktop/index.html ( if you want to use WebKitSpeechRecognition service )
ARDUINO- https://www.arduino.cc/en/Main/Software
KINECT SDK ( if you have one , it is important you do it now ) - https://www.microsoft.com/en-us/download/details.aspx?id=40278
Create a new folder mrl on root of your disk ( no spaces !! )
Download myrobotlab.jar : manticore stable
Download the launcher

-Windows : https://raw.githubusercontent.com/MyRobotLab/inmoov/master/START_INMOOV.bat
-Linux : ( chmod +x ./start_inmoov.sh ) : https://raw.githubusercontent.com/MyRobotLab/inmoov/master/start_inmoov.sh
Click START_INMOOV and wait . Inmoov will say "Hello" and ask for your name !

By default the program launch a virtual environment, with virtual arduino and virtual 3D InMoov.
Lets see how to use real Hardware !

Setup hardware

If you use or not nervoboards, don't forget to use a dedicated power suply for your servo, arduino have not enough power. This is a generic recommandation about power supply and common ground.

It's time to flash your arduino(s) with MRLcomm sketch. You can find it inside this folder : MRL\resource\Arduino\MRLComm ( close mrl before )
Set the Port com of your Arduino(s) in device manager to 115200 BAUD.

Now you need to specify the hardware configuration according to the progress of your robot :

- FingerStarter case :

Open config file InMoov\config\_InMoov.config
Change ScriptType=Virtual to ScriptType=RightSide . This will tell the software it is not virtual anymore, and use the "right" arduino.
You need to specify now what is the COM port of arduino to use .
Open service_6_Arduino.config
You will see : MyRightPort=COM4 . Just change COM4 by your COM port number.
Because you need only one finger and don't want every unused InMoov skeleton part ( torso , arm ... ) you need to activate the right hand
Open config file InMoov\config\skeleton_rightHand.config and change isRightHandActivated=False by isRightHandActivated=True

You can now start InMoov

- Full robot :

Open config file InMoov\config\_InMoov.config
Change ScriptType=Virtual to ScriptType=Full . This will tell the software it is not virtual anymore, and use both arduino.
You need to specify now what are the COM ports of arduino to use .
Open service_6_Arduino.config
You will see : MyRightPort=COM4 . Just change COM4 by your COM port number.
you need to activate skeleton parts, exemple :
Open config file InMoov\config\skeleton_rightHand.config and change isRightHandActivated=False by isRightHandActivated=True. Same logic for all others skeleton parts.

You can now start InMoov

Extra services

You can activate and tweak services using corresponding config file. Exemple to activate the camera :
Open config file InMoov\config\service_D_OpenCv.config

Set isOpenCvActivated=True

- Change language

Inmoov can interact with you in many languages. There are some pre-configured ( en,fr,es,de,nl,ru,hi )

At this time most efficient worky chatbot is English & French ( others worky but need more translations )

You have the choice of multiple speech engines : List here

To use another language that default English, you need to change 2 things.

1/ System language inside main _InMoov.config

2/ Voice engine and voice name ( config/service_5_Mouth.config ) .

( Some of those voice engines need an API key )

Example to change English to Dutch using MarySpeech engine, edit those files :

_InMoov.config > Language=de

config/service_5_Mouth.config > Speechengine=MarySpeech
config/service_5_Mouth.config > VoiceName=dfki-pavoque-neutral-hsmm

Exemple to change English to French using local MarySpeech engine

_InMoov.config > Language=fr

config/service_5_Mouth.config > Speechengine=MarySpeech
config/service_5_Mouth.config > VoiceName=upmc-pierre-hsmm

Exemple to use universal local operating system TTS engine ( windows or macos ):

_InMoov.config > Language=fr

config/service_5_Mouth.config > Speechengine=LocalSpeech
config/service_5_Mouth.config > VoiceName=0 ( check the voice id )

etc ...

- DIY & Test scripts

This is raw references about InMoov Scripting, if you want to code from scratch / debug / and understand how things worky. Inside Pyrobotlab repository you can find too useful things.

- Future

- SwinGui refactor to easy configure things

- Add new hadwares, like I2C

- Deep learning

- IK

- Legs service

- Unlimited list

Setup:

example:

Example for develop:

Alright, there has been much

Submitted by hairygael on Sun, 11/18/2012 - 11:20.

Alright, there has been much progress done with the service.

The left and right sides get correctly initiated and set to an initial position that avoid big arms movements.

Setting the speeds also works, which is a big step for to optimize movements and gestures.

Whooo hoo...inmoov has his

Submitted by Alessandruino on Sun, 05/19/2013 - 02:36.

Whooo hoo...inmoov has his first "better faster stronger" repo script .... :D

Giant script coming soon

Submitted by GroG on Tue, 05/21/2013 - 09:55.

Giant script coming soon (whole robot), with Alessandruino's new BETTER FASTER LIGHTER face tracking !

Oh wow this is going to be

Submitted by hairygael on Tue, 05/21/2013 - 10:58.

Oh wow this is going to be awesome! Hope it's ready before saturday 25/05/13

Where is InMoov?

Submitted by bstott on Thu, 08/22/2013 - 14:37.

I came into MRL - 8/20/2013. I upgraded all MRL files and started an InMoov service. Up comes a master tab, an ear and a mouth tab. There are no controls. There are no Arduino or other services associated or started. What happened?

hi

Submitted by nadia on Sat, 06/06/2015 - 11:33.

hello

I`m new here and i want to ask questions.

i`m going to start my inmoov but I want to use just one arduino due for whole the project , is there any special reason that you used 2 arduinos?

and inmoov arm is not openning for me , is that post deleted or it is just me who can`t open it.

Thanks for everything that you did and share it with everyone.

I have a problem this is the

Submitted by pinchis123 on Sat, 07/30/2016 - 12:23.

I have a problem this is the code we have so far

mouth = Runtime.createAndStart("Mouth","MouthControl")
arduino = mouth.getArduino()
arduino.connect('COM11')

jaw = mouth.getJaw()

jaw.detach()

jaw.attach(arduino,11)


mouth.setmouth(110,120)


mouth.autoAttach = False


speech = Runtime.createAndStart("Speech","AcapelaSpeech")

mouth.setMouth(speech)


speech.setVoice("Will")

def onEndSpeaking(text):

mouth.setmouth(90,120)

jaw.moveTo(95)

sleep(.5)

mouth.setmouth(110,120)

python.subscribe(speech.getName(),"publishEndSpeaking")

# Start of main script

speech.speakBlocking("I'm speaking a very long text to test mouth movement")

speech.speakBlocking("A new sentence to test another long sentece")

speech.speakBlocking("And one more")

when running if he speaks but does not move the mouth could help , 
arduino program I'm using is the one I boot when I run from myrobotlab

I'm new to this I hope you can help me

I want to change the speech sentences of the InMoov robot

Submitted by Ege Norcu on Wed, 02/10/2021 - 04:18.

Hello I am a Turk and I want InMoov Robot to speak Turkish because I am Turkish but somehow I could not find where to change the sentences. Can you help me?

Best regards, Ege ...

myrobotlab