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pyrobotlab/toSort/InMoov2.minimal.py
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#file : InMoov2.minimal.py | |
# this will run with versions of MRL above 1695 | |
# a very minimal script for InMoov | |
# although this script is very short you can still | |
# do voice control of a right hand or finger box | |
# for any command which you say - you will be required to say a confirmation | |
# e.g. you say -> open hand, InMoov will ask -> "Did you say open hand?", you will need to | |
# respond with a confirmation ("yes","correct","yeah","ya") | |
rightPort = "COM8" | |
i01 = Runtime.createAndStart("i01", "InMoov") | |
# starting parts | |
i01.startEar() | |
i01.startMouth() | |
#to tweak the default voice | |
i01.mouth.setGoogleURI("http://thehackettfamily.org/Voice_api/api2.php?voice=Ryan&txt=") | |
############## | |
i01.startRightHand(rightPort) | |
# tweaking defaults settings of right hand | |
#i01.rightHand.thumb.setMinMax(55,135) | |
#i01.rightHand.index.setMinMax(0,160) | |
#i01.rightHand.majeure.setMinMax(0,140) | |
#i01.rightHand.ringFinger.setMinMax(48,145) | |
#i01.rightHand.pinky.setMinMax(45,146) | |
#i01.rightHand.thumb.map(0,180,55,135) | |
#i01.rightHand.index.map(0,180,0,160) | |
#i01.rightHand.majeure.map(0,180,0,140) | |
#i01.rightHand.ringFinger.map(0,180,48,145) | |
#i01.rightHand.pinky.map(0,180,45,146) | |
################# | |
# 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) |