Firing up!

Submitted by wkinne on Thu, 03/13/2014 - 17:31

OK Grog, lets do this! ; )

You sayeth and it is so

#file : InMoov2.wkinne.py 
# 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"
 
i01 = Runtime.createAndStart("i01", "InMoov")
 
# starts everything
#i01.startAll(leftPort, rightPort)
 
# starting parts
 
i01.startMouth()
i01.startHead(leftPort)
i01.speakBlocking("Yes master. I am alive")
i01.startMouthControl(leftPort)	
i01.head.jaw.setMinMax(50, 120)
i01.head.jaw.setRest(55)
i01.mouthControl.setmouth(40, 110)
 
#i01.startLeftHand(leftPort)
#i01.startLeftArm(leftPort)
 
# starting part with a reference, with a reference
# you can interact further
#opencv = i01.startOpenCV()
#opencv.startCapture()
# 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.autoDetachOnInactivity(120)
 
# purges any "auto" methods
#i01.purgeAllTasks()
 
# remote control services
# WebGUI - for more information see
# http://myrobotlab.org/service/WebGUI
 
# XMPP - for more information see
# http://myrobotlab.org/service/XMPP
 
# 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()
 
# verbal commands
i01.startEar()
ear = i01.ear
 
ear.addCommand("attach", i01.getName(), "attach")
ear.addCommand("detach", i01.getName(), "detach")
ear.addCommand("rest", i01.getName(), "rest")
 
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", i01.getName(), "hello")
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")
# FIXME -  
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("power down", "python", "powerdown")
#ear.addCommand("power up", "python", "powerup")
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)
 
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()
 
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()
 
 

 

wkinne's picture

when i fired up left arm it

Submitted by wkinne on Thu, 03/13/2014 - 19:11.

when i fired up left arm it broke the bicep shaft with no warning or time to stop it. maybe my pot in in wrong or backwords or just limits set bad?
 

wkinne's picture

repaired shaft, reinstalled,

Submitted by wkinne on Thu, 03/13/2014 - 20:05.

repaired shaft, reinstalled, restarted MRL, face came up fine, reset jaw limits again, restarted left arm, bicep spun and spun never stoping until timeout. I did not reinsert shaft in base so it spun in air

wkinne's picture

note to self: leftArm =

Submitted by wkinne on Sun, 03/16/2014 - 17:18.

note to self:

GroG: step 3 - (with hand on power cord) press the execute button in Python

GroG: step 2 - copy and paste script to Python tab
GroG: step 1 start fresh mrl

 

leftArm = i01.startLeftArm("COM6")

i01.startMouthControl("COM6")

 

 i01.head.jaw.setRest(40)
GroG: i01.head.jaw.setMinMax(10,50)
all this you can do with just 2 services .. in fact you can detach from the jaw and re-attach to a different pin (perhaps that troublesome bicep)
wkinne: so i can do that with any pin any servo?
GroG: now you can move the little slider thing to where you thing it is a good value, you can move it slowly and see where the min and max should be .. you can tell also if it needs to be inverted
GroG: set the controller to be the arduino and the pin make it the (jaw) pin then press attach ... BEHOLD YOU HAVE MANUAL CONTROL OF THE JAW
GroG: go to its tab (notice its not a bajillion tabs - and you can actually find it)
GroG: create a single servo .. call it something imaginative like "servo"
GroG: now you have control of the Arduino (no other distractions) ... life is good
GroG: start mrl & start an Arduino (just right click and call it arduino) - connect it to port COM6

#file : InMoov2.Tracking.min.py

headPort="COM6"
i01 = Runtime.createAndStart("i01", "InMoov")
i01.startMouth()
tracker = i01.startHeadTracking(headPort)
tracker.startLKTracking()

 

i01.headTracking.xpid.setPID(15.0,5.0,0.1)

i01.headTracking.ypid.setPID(20.0,5.0,0.1

 

 

i01.mouth.setGoogleURI("http://thehackettfamily.org/Voice_api/api2.php?voice=Ryan&txt=&quot;)

 

 

 

 

 

 

GroG's picture

Ya I need to do a how to take

Submitted by GroG on Fri, 03/14/2014 - 00:01.

Ya I need to do a how to take control of any Servo video ... its a good diagnostic technique .. can save many magic blue smoke from disappearing ...

wkinne's picture

more voics

Submitted by wkinne on Sun, 03/16/2014 - 17:56.

 

This i01.mouth.setGoogleURI("http://thehackettfamily.org/Voice_api/api2.php?voice=Ryan&txt=")has to be put right under i01.startMouth()

wkinne's picture

new

finger sensors

Submitted by wkinne on Sat, 03/22/2014 - 09:28.

right hand on right arduino (com5 for me) - left hand on left arduino(com6 for me)

"Analog In" pins 2 through 6

thumb pin 2

index pin 3

majeure pin 4

ringfinger pin 5

pinky pin 6

 

 

wkinne

10 years 6 months ago

headPort = "COM8"
 
i01 = Runtime.createAndStart("i01", "InMoov")
 
mouthControl=i01.startMouthControl("COM8")
 
head = i01.startHead(headPort)
leftArm = i01.startLeftArm(headPort)
 
headTracking = i01.startHeadTracking("COM8")
eyesTracking= i01.startEyesTracking("COM8")
 
i01.headTracking.startLKTracking()
i01.eyesTracking.startLKTracking()
 
i01.startEar()
 
 
############################################################
#!!!my eyeY servo and jaw servo are reverted, Gael should delete this part !!!!
i01.leftArm.bicep.setMinMax(10,85)
i01.head.eyeY.map(0,180,180,0)
i01.head.eyeY.setMinMax(22,85)
i01.head.eyeX.setMinMax(60,85)
i01.head.eyeY.setRest(45)
i01.head.eyeY.moveTo(45)
i01.head.jaw.map(0,180,180,0)
i01.head.jaw.setMinMax(110,180)
i01.head.jaw.moveTo(70)
i01.mouthControl.setmouth(70,45)
############################################################
 
i01.startMouth()
 
 
i01.headTracking.xpid.setPID(10.0,5.0,0.1)
i01.headTracking.ypid.setPID(10.0,5.0,0.1)
i01.eyesTracking.xpid.setPID(15.0,5.0,0.1)
i01.eyesTracking.ypid.setPID(15.0,5.0,0.1)
 
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.addCommand("raise arm", "python", "rais")
ear.addCommand("arm down", "python", "down")
 
ear.addCommand("manual", "i01.ear", "lockOutAllGrammarExcept", "voice control")
ear.addCommand("voice control", "i01.ear", "clearLock")
 
ear.addComfirmations("yes", "correct", "yeah", "ya")
ear.addNegations("no", "wrong", "nope", "nah")
 
# all commands MUST be before startListening
ear.startListening()
 
def trackHumans():
     i01.headTracking.faceDetect()
     i01.eyesTracking.faceDetect()
 
def trackPoint():
     i01.headTracking.startLKTracking()
     i01.eyesTracking.startLKTracking()
 
def stopTracking():
     i01.headTracking.stopTracking()
     i01.eyesTracking.stopTracking()
 
def rais ():
     i01.leftArm.bicep.moveTo(80)
 
def down ():
     i01.leftArm.bicep.moveTo(10)

wkinne

10 years 6 months ago

#file : InMoov2.full.py
# 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"
 
i01 = Runtime.createAndStart("i01", "InMoov")
 
# starts everything
i01.startAll(leftPort, rightPort)
 
# i01.startLeftHand(leftPort)
 
# 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
 
# set servo minimum & maximum limits
 
i01.leftHand.thumb.setMinMax(30,135)
i01.leftHand.index.setMinMax(15,100)
i01.leftHand.majeure.setMinMax(15,95)
i01.leftHand.ringFinger.setMinMax(10,85)
i01.leftHand.pinky.setMinMax(0,90)
 
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(0,90)
 
i01.rightHand.wrist.setMinMax(85,164)
i01.leftHand.wrist.setMinMax(85,164)
 
i01.rightArm.bicep.setMinMax(10,80)
i01.rightArm.rotate.setMinMax(30,180)
i01.rightArm.shoulder.setMinMax(18,107)
i01.rightArm.omoplate.setMinMax(85,150)
 
i01.leftArm.bicep.setMinMax(10,80)
i01.leftArm.rotate.setMinMax(30,180)
i01.leftArm.shoulder.setMinMax(18,107)
i01.leftArm.omoplate.setMinMax(85,150)
 
# set servo minimum & maximum limits
 
# set servo rest positions
 
i01.rightHand.wrist.setRest(164)
i01.leftHand.wrist.setRest(164)
 
i01.rightArm.bicep.setRest(10)
i01.rightArm.rotate.setRest(100)
i01.rightArm.shoulder.setRest(52)
i01.rightArm.omoplate.setRest(85)
 
i01.leftArm.bicep.setRest(10)
i01.leftArm.rotate.setRest(100)
i01.leftArm.shoulder.setRest(52)
i01.leftArm.omoplate.setRest(85)
 
# set servo rest positions
 
 
 
# starting parts
i01.startMouth()
#i01.startLeftHand(leftPort)
#i01.startLeftArm(leftPort)
#i01.startHead(leftPort)
i01.startEar()
# starting part with a reference, with a reference
# you can interact further
#opencv = i01.startOpenCV()
#opencv.startCapture()
# 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()
 
# verbal commands
ear = i01.ear
 
ear.addCommand("attach", i01.getName(), "attach")
ear.addCommand("detach", i01.getName(), "detach")
ear.addCommand("rest", i01.getName(), "rest")

wkinne

10 years 5 months ago

package com.klemstinegroup;
 
import static com.googlecode.javacv.cpp.opencv_core.IPL_DEPTH_8U;
import static com.googlecode.javacv.cpp.opencv_core.cvCopy;
import static com.googlecode.javacv.cpp.opencv_core.cvZero;
import static com.googlecode.javacv.cpp.opencv_imgproc.*;
 
import javax.swing.JFrame;
 
import com.googlecode.javacv.CanvasFrame;
import com.googlecode.javacv.FrameGrabber.Exception;
import com.googlecode.javacv.OpenCVFrameGrabber;
import com.googlecode.javacv.cpp.opencv_core.IplImage;
 
public class Main {
 
public Main() throws Exception {
int EDGES_THRESHOLD = 80;
int LAPLACIAN_FILTER_SIZE = 5;
int MEDIAN_BLUR_FILTER_SIZE = 9;
int repetitions = 7; // Repetitions for strong cartoon effect.
int ksize = 9; // Filter size. Has a large effect on speed.
double sigmaColor = 9; // Filter color strength.
double sigmaSpace = 7; // Spatial strength. Affects speed.
 
OpenCVFrameGrabber grabber = new OpenCVFrameGrabber(0);
grabber.start();
CanvasFrame cf = new CanvasFrame("Rotoscopor");
cf.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
IplImage image = grabber.grab();
IplImage gray = IplImage.create(image.cvSize(), IPL_DEPTH_8U, 1);
cvCvtColor(image, gray, CV_BGR2GRAY);
IplImage edges = IplImage.create(gray.cvSize(), gray.depth(), gray.nChannels());
IplImage temp = IplImage.create(image.cvSize(), image.depth(), image.nChannels());
while (true) {
image = grabber.grab();
cvCvtColor(image, gray, CV_BGR2GRAY);
cvSmooth(gray, gray, CV_MEDIAN, MEDIAN_BLUR_FILTER_SIZE, 0, 0, 0);
cvLaplace(gray, edges, LAPLACIAN_FILTER_SIZE);
cvThreshold(edges, edges, EDGES_THRESHOLD, 255, CV_THRESH_BINARY_INV);
 
for (int i = 0; i < repetitions; i++) {
cvSmooth(image, temp, CV_BILATERAL, ksize, 0, sigmaColor, sigmaSpace);
cvSmooth(temp, image, CV_MEDIAN, ksize, 0, sigmaColor, sigmaSpace);
}
temp = IplImage.create(image.cvSize(), image.depth(), image.nChannels());
cvZero(temp);
cvCopy(image, temp, edges);
cf.showImage(temp);
}
}
 
public static void main(String[] args) throws Exception {
 
new Main();
}
 
}

wkinne

10 years 5 months ago

those two needed reversing .. but all the skeleton joints can be mapped
GroG: openni.skeleton.rightElbow.mapXY(0, 180, 180, 0);
GroG: openni.skeleton.leftShoulder.mapYZ(0, 180, 180, 0);

 

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