I made a few test with the my updated script InMoov2full.py because Grog has implemented all the gestures into the new service and I discovered something odd.

The same gestures with exact same positions on the script don't give the same result depending on the version that calls them.

For exemple this is "rest" default position with the version 1695 (InMoov1.0). You can see "rotate" servo is facing the camera and the position on the slider is 90:

In this second exemple it is again "rest" default position with the version 1987 (InMoov2.0). You can see "rotate" servo is NOT facing the camera and the position on the slider is 90:

This error occurs with all the gestures, I'm not sure it affects only "rotate" servo, but it is the most obvious.

The problem makes it impossible to use the gesture "poor bottle" because the hands are very wrongly positionned and it makes a real mess on the carpet when InMoov tries to serve me a little beer.

:)

Also, the tracking nor the camera are activated after the initialisation is complete. I have to click on capture by hand.

Jaw servo doesn't seem to work anymore according to voice, I tried to test with another script that used to work with InMoov2.0 but the script now gives an error.

This is the script I could use before:

#inmoov2.ear and mouth talk
headPort = "COM7"

i01 = Runtime.createAndStart("i01", "InMoov")
head = i01.startHead(headPort)
#neck = i01.getHeadTracking()
#neck.faceDetect()

#eyes = i01.getEyesTracking()
#eyes.faceDetect()
############################################################
#if needed we can tweak the default settings with these lines
i01.head.jaw.setMinMax(6,30)
i01.head.mouthControl.setmouth(6,30)
############################################################

ear = runtime.createAndStart("ear","Sphinx")

ear.attach(i01.head.mouthControl.mouth)
ear.addCommand("attach head", "i01.head", "attach")
ear.addCommand("disconnect head", "i01.head", "detach")

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")

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

One last point, but maybe that's because Grog didn't get the time to implement them yet in the background, none of the default gestures work at voice command:

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")
ear.addCommand("track", i01.getName(), "track")
ear.addCommand("freeze track", i01.getName(), "clearTrackingPoints")
ear.addCommand("hello", i01.getName(), "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")