Starting up and using version 1723 and other problems!!

Hi everyone

Help please with setting up myrobotlab

I was using Gaels V4 script with myroblab 1412 and I had most servos working OK, could hear the acapela voice on start up but never manged to get voice control working. I could not attach the stomach servos however. I could succesfully manually control most of the my robot.

I have now installed the V7 script with myrobtlab 1723. I now get the new voice on start up, but no voice control and all the working servos run really slowly now. I still cannot attach the mid and top stomach servos. I emailed Gael about the speed issue on the inmoov forums and he suggested changing velocity settings but this does not work for me.

So a few problems! Appreciate a sanity check on all this!!

I have been checking the start up batch file to see if I am correctly starting all the services and that has also confused me as when I setup the correct directories as I understand them, robotlab will not start, but using the default settings, robotlab does start.

Here are the batch files and the modified V7 script.

This batch file is mrl_lm2.bat which has incorrect drive paths but starts up the program

taskkill.exe /F /IM java.exe

taskkill.exe /F /IM javaW.exe

cd "C:\Myrobotlab\myrobotlab.1.0.1723\ProgramAB\bots\inmoovWebKit/aimlif"

del "learnf.aiml.csv"

cd "C:\Myrobotlab\myrobotlab.1.0.1723"

java -jar myrobotlab.jar -invoke python execFile C:\Users\lorn\Documents\Arduino\libraries\InMoov3.Deep.AB.V7.py

and this batch file mrl_lm4 which has correct paths but does not start up the program. Note the additional X64 part of the address

taskkill.exe /F /IM java.exe

taskkill.exe /F /IM javaW.exe

cd "C:\Myrobotlab\myrobotlabX64.1.0.1723\Myrobotlab\myrobotlab.1.0.1723\ProgramAB\bots\inmoovWebKit/aimlif"

del "learnf.aiml.csv"

cd "C:\Myrobotlab\myrobotlabX64.1.0.1723"

java -jar myrobotlab.jar -invoke python execFile C:\Users\lorn\Documents\Arduino\libraries\InMoov3.Deep.AB.V7.py

Also, these Issues with this 1723 version:

I cannot attach top and midstom servos on left arduino pin 27 and 28. Its a bit unclear which pins to use but whichever pins I use will not attach.

Also ALL servos run really slowly. I have tried changing velocity or bipassing velocity settings in Gaels script V7 but this has not effect

Here is my version of edited V7 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 = "COM5"

rightPort = "COM3"

headPort = leftPort

# gesturesPath = "C:\Myrobotlab\myrobotlab.1.0.1723\ProgramAB bots\gestures"

gesturesPath = "C:\myrobotlab\myrobotlabX64.1.0.1723\Myrobotlab\ProgramAB bots\gestures"

# aimlPath = "C:\Myrobotlab\myrobotlab.1.0.1723\ProgramAB\bots"

aimlPath = "C:\myrobotlab\myrobotlabX64.1.0.1723\Myrobotlab\myrobotlab.1.0.1723\ProgramAB\bots"

aimlBotName = "inmoovWebKit"

aimlUserName = "lorn"

#botVoice = "Ryan"

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

# LANGUAGE ( FR/EN )

lang="EN"

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

#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

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()

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

# Start up the inmoov and attach stuff.

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

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

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

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

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

# tweaking default settings of jaw

head.jaw.setMinMax(42,101)

head.jaw.map(0,180,42,101)

head.jaw.setRest(42)

# tweaking default settings of eyes

head.eyeY.map(0,180,85,110)

head.eyeY.setMinMax(0,180)

head.eyeY.setRest(90)

head.eyeX.map(0,180,75,120)

head.eyeX.setMinMax(0,180)

head.eyeX.setRest(90)

head.neck.map(0,180,75,128)

head.neck.setMinMax(0,180)

head.neck.setRest(90)

head.rothead.map(0,180,60,130)

head.rothead.setMinMax(0,180)

head.rothead.setRest(90)

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

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

# tweaking default torso settings

#torso.topStom.setMaxVelocity(13)

torso.topStom.setMinMax(60,120)

torso.topStom.map(0,180,60,120)

#torso.midStom.setMaxVelocity(13)

torso.midStom.setMinMax(0,180)

torso.midStom.map(0,180,50,130)

#torso.lowStom.setMaxVelocity(13)

#torso.lowStom.setMinMax(0,180)

#torso.lowStom.map(0,180,60,120)

torso.topStom.setRest(90)

torso.midStom.setRest(90)

#torso.lowStom.setRest(90)

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

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

# tweaking default settings of left hand

#leftHand.thumb.setMaxVelocity(250)

leftHand.thumb.setMinMax(0,180)

#leftHand.index.setMaxVelocity(250)

leftHand.index.setMinMax(0,180)

#leftHand.majeure.setMaxVelocity(250)

leftHand.majeure.setMinMax(0,180)

#leftHand.ringFinger.setMaxVelocity(250)

leftHand.ringFinger.setMinMax(0,180)

#leftHand.pinky.setMaxVelocity(250)

leftHand.pinky.setMinMax(0,180)

#leftHand.wrist.setMaxVelocity(250)

leftHand.wrist.setMinMax(0,180)

leftHand.thumb.map(0,180,62,150)

leftHand.index.map(0,180,35,135)

leftHand.majeure.map(0,180,35,180)

leftHand.ringFinger.map(0,180,45,150)

leftHand.pinky.map(0,180,50,170)

leftHand.wrist.map(0,180,40,130)

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

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

#tweak defaults LeftArm

#leftArm.bicep.setMaxVelocity(26)

leftArm.bicep.setMinMax(5,95)

leftArm.bicep.map(0,180,45,140)

#leftArm.rotate.setMaxVelocity(18)

leftArm.rotate.setMinMax(40,180)

leftArm.rotate.map(40,180,60,142)

#leftArm.shoulder.setMaxVelocity(14)

leftArm.shoulder.setMinMax(0,180)

leftArm.shoulder.map(0,180,42,150)

#leftArm.omoplate.setMaxVelocity(15)

leftArm.omoplate.setMinMax(10,82)

leftArm.omoplate.map(0,180,36,135)

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

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

# tweaking defaults settings of right hand

#rightHand.thumb.setMaxVelocity(250)

rightHand.thumb.setMinMax(0,180)

#rightHand.index.setMaxVelocity(250)

rightHand.index.setMinMax(0,180)

#rightHand.majeure.setMaxVelocity(250)

rightHand.majeure.setMinMax(0,180)

#rightHand.ringFinger.setMaxVelocity(250)

rightHand.ringFinger.setMinMax(0,180)

#rightHand.pinky.setMaxVelocity(250)

rightHand.pinky.setMinMax(0,180)

#rightHand.wrist.setMaxVelocity(250)

rightHand.wrist.setMinMax(0,180)

rightHand.thumb.map(0,180,64,135)

rightHand.index.map(0,180,42,160)

rightHand.majeure.map(0,180,35,165)

rightHand.ringFinger.map(0,180,40,140)

rightHand.pinky.map(0,180,45,130)

rightHand.wrist.map(0,180,30,135)

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

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

# tweak default RightArm

#rightArm.bicep.setMaxVelocity(26)

rightArm.bicep.setMinMax(5,95)

rightArm.bicep.map(0,180,45,140)

#rightArm.rotate.setMaxVelocity(18)

rightArm.rotate.setMinMax(40,180)

rightArm.rotate.map(40,180,75,130)

#rightArm.shoulder.setMaxVelocity(14)

rightArm.shoulder.setMinMax(0,180)

rightArm.shoulder.map(0,180,42,150)

#rightArm.omoplate.setMaxVelocity(15)

rightArm.omoplate.setMinMax(10,82)

rightArm.omoplate.map(0,180,45,135)

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

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

i01.setMute(False)

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

if 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("COM5")

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

#i01.startPIR("COM5",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("COM7")

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(12)

# head.rothead.setVelocity(12)

# head.jaw.setVelocity(0)

torso.topStom.setVelocity(5)

torso.midStom.setVelocity(5)

#torso.lowStom.setVelocity(5)

rightHand.thumb.setVelocity(15)

rightHand.index.setVelocity(15)

rightHand.majeure.setVelocity(15)

rightHand.ringFinger.setVelocity(15)

rightHand.pinky.setVelocity(15)

rightHand.wrist.setVelocity(15)

leftHand.thumb.setVelocity(15)

leftHand.index.setVelocity(15)

leftHand.majeure.setVelocity(15)

leftHand.ringFinger.setVelocity(15)

leftHand.pinky.setVelocity(15)

leftHand.wrist.setVelocity(15)

# leftArm.bicep.setVelocity(100)

# leftArm.rotate.setVelocity(100)

# leftArm.shoulder.setVelocity(100)

# leftArm.omoplate.setVelocity(100)

# rightArm.bicep.setVelocity(100)

# rightArm.rotate.setVelocity(100)

# rightArm.shoulder.setVelocity(100)

# rightArm.omoplate.setVelocity(100)

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

# 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)

Hello Lorncambell, yes,

Hello Lorncambell,

yes, because the scripts were not checked in with the mrl build itself - things have drifted considerably. There is a InMoov repo now here in myrobotlab @ github (Yay!) and the general idea is to get it working with the "latest".

When the checked in InMoov script get insync with the rest of mrl - they will be built together - and you should have a single working system (plus some configuration on your side to remedy the differences in builds)

Regards,

Greg.

MRLComm 38 not MRLComm 55 issue??

Hi Greg and everybody

I have now installed MRL 1.0.1943 and I now have voice responses working !! My microphone finally working and chrome pages looking really good. MarySpeech talking back and answering away, telling me the time etc .

I had several incorrect settings on my computer, have now correctly updated to 64-bit Chrome and 64-bit Java and checked bat file and script file paths etc.

However I am getting a message saying MRLComm 38 not MRLComm 55 expected shown in mrl gui. Is there a correct MRLComm I should be using? Cannot connect to my arduinos at present.

I am using the MRLComm from Kracken 1723 downloaded from inmoov site.

Any help most apprecaited

kind regrds

Lorn

MRLComm versions

Use this guide.

http://myrobotlab.org/content/uploading-mrlcomm-arduino-0

It shows where you can find MRLComm and how to upload it to the Arduino.

Getting Started