InMoov

- 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

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

1. Download JAVA 8 - https://www.java.com/fr/download/manual.jsp ( if your computer is 64bit, please take 64bit version )
2. CHROME - set it default - https://www.google.fr/chrome/browser/desktop/index.html ( if you want to use WebKitSpeechRecognition service )
3. ARDUINO- https://www.arduino.cc/en/Main/Software
4. KINECT SDK ( if you have one , it is important you do it now ) - https://www.microsoft.com/en-us/download/details.aspx?id=40278
5. Create a new folder mrl on root of your disk ( no spaces !! )
6. Download myrobotlab.jar : manticore stable
7. 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

   
    

8. 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.

1. 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 )
2. 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.

• Finger Starter
• InMoov Hand
• InMoov Arm
• InMoov Head
• InMoov Torso
• InMoov EyeLids
• InMoov basic Service
• InMoov Full Script

- Future

- SwinGui refactor to easy configure things

- Add new hadwares, like I2C

- Deep learning

- IK

- Legs service

- Unlimited list

Examples:

#########################################
# InMoov.py
# more info @: http://myrobotlab.org/service/InMoov
#########################################
# a very minimal script for InMoov
# this script is provided as a basic guide for InMoov service
# InMoov now can be started in modular pieces through the skeleton.config from full script
# although this script is very short you can still
# do voice control of a FingerStarter or hand
# It uses WebkitSpeechRecognition, so you need to use Chrome as your default browser for this script to work
# virtual = True

rightPort = "COM8"
leftPort = "COM10"

i01 = Runtime.start("i01", "InMoov")

if ('virtual' in globals() and virtual):
    leftPortvirtualArduino = Runtime.start("leftPortvirtualArduino", "VirtualArduino")
    leftPortvirtualArduino.connect(leftPort)
    rightPortvirtualArduino = Runtime.start("rightPortvirtualArduino", "VirtualArduino")
    rightPortvirtualArduino.connect(rightPort)

# starting parts
i01.startAll(leftPort,rightPort)
if ('virtual' in globals() and virtual):i01.startVinMoov()

# 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)