In InMoov.startMouthControl()  line 1083, there is a call to attah the servo, but if you step into the attach function it gives an error cannot find i01.head.jaw, although it does exist in the GUI.

Here is my script:

from java.lang import String

import threading

import time

import random

from org.myrobotlab.net import BareBonesBrowserLaunch

##

import urllib, urllib2

import json

 

from datetime import datetime

#######################

import io

import itertools

import textwrap

import codecs

import socket

import os

import shutil

import hashlib

import subprocess

import csv

from subprocess import Popen, PIPE

 

#############################################################

# This is the InMoov script

# InMoov is powered by MyRobotLab

# Initially we'll start simple

# It will use ProgramAB & Webkit for all interactions with

# the bot.

#############################################################

# All bot specific hardware configuration goes here.

leftPort = "/dev/ttyACM0"

rightPort = "/dev/ttyACM1"

headPort = "/dev/ttyACM2"

 

gesturesPath = "/home/andrew/inmoov/ProgramAB/gestures"

 

aimlPath = "/home/andrew/inmoov/ProgramAB"

aimlBotName = "Eric"

aimlUserName = "Andrew"

#botVoice = "Ryan"

#############################################################

# LANGUAGE ( FR/EN )

lang="EN"

#Voice="dfki-spike-hsmm" 

 

#ACB This is the default InMoov voice

Voice="cmu-slt-hsmm" # Default female for MarySpeech 

 

#ACB - This is my preferred voice

#Voice="cmu-bdl-hsmm" #Male US voice.You need to add the necessary file.jar to myrobotlab.1.0.XXXX/library/jar

 

#https://github.com/MyRobotLab/pyrobotlab/blob/ff6e2cef4d0642e47ee15e353…

#Voice="upmc-pierre-hsmm" #French voice

 

voiceType = Voice

 

##Create your free Id and key https://datamarket.azure.com/dataset/bing/microsofttranslator

client_id = "your_id"

client_secret = "yoursecret_key"

 

global human

global inmoov

global weathervar

global walkingThread

#############################################################

 

# toggle to only load program ab  and skip the inmoov services

startMyWay = False

startInMoov = True

 

######################################################################

# helper function help debug the recognized text from webkit/sphinx

######################################################################

def heard(data):

  print "Speech Recognition Data:"+str(data)

 

######################################################################

#

# MAIN ENTRY POINT  - Start and wire together all the services.

#

######################################################################

 

# launch the swing gui?

# gui = Runtime.createAndStart("gui", "GUIService");

 

######################################################################

# Create ProgramAB chat bot ( This is the inmoov "brain" )

######################################################################

#neopixel = Runtime.createAndStart("neopixel","Serial")

#neopixel.connect("COM3", 57600, 8, 1, 0)

inmoovWebKit = Runtime.createAndStart("inmoovWebKit", "ProgramAB")

inmoovWebKit.setPath(aimlPath)

inmoovWebKit.startSession(aimlUserName, aimlBotName)

 

######################################################################

# Html filter to clean the output from programab.  (just in case)

htmlfilter = Runtime.createAndStart("htmlfilter", "HtmlFilter")

 

######################################################################

# mouth service, speech synthesis

mouth = Runtime.createAndStart("i01.mouth", "MarySpeech")

#mouth.setVoice(botVoice)

mouth.setVoice(voiceType)

#Volume(amount=2.0)

#TractScaler(amount=1.4)

#F0Scale(f0Add=2.0)

#F0Add(f0Add=60.0)

#Robot(amount=0.0)

#Rate(amount=3.75)

#Whisper(amount=100.0)

#Stadium(amount=100.0)

#Chorus(delay=1.466;amp1=0.54)

#FIRFilter(type=3;fc1=500.0;fc2=2)

#mouth.setAudioEffects("Volume(amount=1.75) + TractScaler(amount=0.95) + F0Scale(f0Add=3.0)")

#mouth.setLanguage(lang)

 

######################################################################

# the "ear" of the inmoov TODO: replace this with just base inmoov ear?

ear = Runtime.createAndStart("i01.ear", "WebkitSpeechRecognition")

ear.addListener("publishText", python.name, "heard");

ear.addMouth(mouth)

######################################################################

WebkitSpeechRecognitionFix = Runtime.start("WebkitSpeechRecognitionFix","Clock")

WebkitSpeechRecognitionFix.setInterval(1000)

WebkitSpeechRecognitionFix.startClock()

######################################################################

# MRL Routing webkitspeechrecognition/ear -> program ab -> htmlfilter -> mouth

######################################################################

ear.addTextListener(inmoovWebKit)

inmoovWebKit.addTextListener(htmlfilter)

htmlfilter.addTextListener(mouth)

######################################################################

#Gets the battery level

level = Runtime.getBatteryLevel()

 

#################

headArd = Runtime.createAndStart("headArd", "Arduino")

headArd.setBoardUno()

headArd.connect(headPort)

 

#################

python.reserveRoot("i01.eyesTracking.controller","headArd", "Arduino", "want new one")

python.reserveRoot("i01.headTracking.controller","headArd", "Arduino", "want new one")

python.reserveRoot("i01.head.arduino","headArd", "Arduino", "want new one")

 

 

######################################################################

# Start up the inmoov and attach stuff.

######################################################################

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

 

##############

head = Runtime.create("i01.head","InMoovHead")

 

##############

torso = Runtime.create("i01.torso", "InMoovTorso")

 

##############

leftHand = Runtime.create("i01.leftHand","InMoovHand")

 

###############

leftArm = Runtime.create("i01.leftArm","InMoovArm")

 

################

rightHand = Runtime.create("i01.rightHand","InMoovHand")

 

#################

rightArm = Runtime.create("i01.rightArm","InMoovArm")

 

#################

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

i01.setMute(False)

 

################# 

if startMyWay:

   i01.startMouth();

   i01.startHead(headPort, "UNO");

   i01.startEar();

 

   i01.startMouthControl(headPort);

 

   i01.mouthControl.setmouth(43,95)

   print("Test")

   i01.head.neck.attach(headPort, 7)

 

#################

   i01.startEyesTracking(headPort, 22, 24)

   i01.startHeadTracking(headPort)

 

#################

   #to tweak the default PID values

   i01.eyesTracking.pid.setPID("eyeX",12.0,1.0,0.1)

   i01.eyesTracking.pid.setPID("eyeY",12.0,1.0,0.1)

   i01.headTracking.pid.setPID("rothead",5.0,1.0,0.1)

   i01.headTracking.pid.setPID("neck",5.0,1.0,0.1)

 

#################

   #i01.startRightArm(rightPort)

   #i01.startRightHand(rightPort)

   #i01.startLeftArm(leftPort)

   #i01.startLeftHand(leftPort)

 

   #i01.startTorso(leftPort)

 

#################

   #i01.startPIR(leftPort,23)

 

elif startInMoov:

 

   i01.startAll(leftPort, rightPort)

   #i01.startMouth()

   #i01.startMouthControl(leftPort)

   i01.mouthControl.setmouth(43,95)

#################

   #i01.startEyesTracking(leftPort)

   #i01.startHeadTracking(leftPort)

#################

   #to tweak the default PID values

   i01.eyesTracking.pid.setPID("eyeX",12.0,1.0,0.1)

   i01.eyesTracking.pid.setPID("eyeY",12.0,1.0,0.1)

   i01.headTracking.pid.setPID("rothead",5.0,1.0,0.1)

   i01.headTracking.pid.setPID("neck",5.0,1.0,0.1)

#################

   #i01.startEar()

   #i01.startRightArm(rightPort)

   #i01.startRightHand(rightPort,"atmega2560")

   #i01.startLeftArm(leftPort)

   #i01.startLeftHand(leftPort)

   i01.startTorso("COM20")

#################

   #i01.startPIR("COM20",23)

 

else:

  i01.mouth = mouth

    

# InMoov has a forward servo, i'm adding

#forwardServo = Runtime.start("forwardServo","Servo")

#directionServo = Runtime.start("directionServo","Servo")

 

#rollneck = Runtime.start("rollneck","Servo")

right = Runtime.start("i01.right", "Arduino")

right.connect(rightPort)

right.setBoardMega()

 

#directionServo.attach(right, 24)

#forwardServo.attach(right, 26)

 

#rollneck.attach(right,12)

#rollneck.setRest(90)

#rollneck.moveTo(90)

 

 

#################

#Sets FaceRecognizer

#fr=i01.opencv.addFilter("FaceRecognizer")

#lastName=fr.getLastRecognizedName()

#################

##Velocity settings

 

head.eyeX.setVelocity(0)

head.eyeY.setVelocity(0)

 

head.neck.setVelocity(0)

head.rothead.setVelocity(0)

head.jaw.setVelocity(0)

 

#torso.topStom.setVelocity(0)

#torso.midStom.setVelocity(0)

#torso.lowStom.setVelocity(5)

 

#rightHand.thumb.setVelocity(25)

#rightHand.index.setVelocity(25)

#rightHand.majeure.setVelocity(25)

#rightHand.ringFinger.setVelocity(25)

#rightHand.pinky.setVelocity(25)

#rightHand.wrist.setVelocity(25)

 

#leftHand.thumb.setVelocity(25)

#leftHand.index.setVelocity(25)

#leftHand.majeure.setVelocity(25)

#leftHand.ringFinger.setVelocity(25)

#leftHand.pinky.setVelocity(25)

#leftHand.wrist.setVelocity(25)

 

#leftArm.bicep.setVelocity(30)

#leftArm.rotate.setVelocity(30)

#leftArm.shoulder.setVelocity(30)

#leftArm.omoplate.setVelocity(30)

 

#rightArm.bicep.setVelocity(30)

#rightArm.rotate.setVelocity(30)

#rightArm.shoulder.setVelocity(30)

#rightArm.omoplate.setVelocity(30)

 

######################################################################

# Launch the web gui and create the webkit speech recognition gui

# This service works in Google Chrome only with the WebGui

#################################################################

webgui = Runtime.create("webgui","WebGui")

webgui.autoStartBrowser(false)

webgui.startService()

BareBonesBrowserLaunch.openURL("http://localhost:8888/#service/i01.ear")

 

######################################################################

# END MAIN SERVICE SETUP SECTION

######################################################################

if lang=="EN":

   ear.setLanguage("en-EN")

python.subscribe(ear.getName(),"publishText")

 

######################################################################

# Helper functions and various gesture definitions

######################################################################

#i01.loadGestures(gesturesPath)

but it works :-)

In the InMoov servce, line 1083 I removed the line that attaches the servo to the arduino because it seemed this was already done when mouthContol is created or started or constructed or something.

Anyway now I have removed the line that failed because it couldn't find the device, my robot mouth moves as it talks #:0)

However, I do get a "pyException null" error at the bottom of my MyRobotLab GUI?

Andrew