From 67a710284a0b2dfb1a07df9b4cfc9eaaa9bf33ac Mon Sep 17 00:00:00 2001
From: KillerstinckBR <45513388+KillerstinckBR@users.noreply.github.com>
Date: Tue, 19 Mar 2019 11:09:03 -0300
Subject: [PATCH] Create minimalhand.py

with this code, servo does not work correctly, failing, example> opening finger pointing and closing as soon as it closes the next fingers
---
 home/minimalhand.py | 127 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 127 insertions(+)
 create mode 100644 home/minimalhand.py

diff --git a/home/minimalhand.py b/home/minimalhand.py
new file mode 100644
index 00000000..f8ad8580
--- /dev/null
+++ b/home/minimalhand.py
@@ -0,0 +1,127 @@
+#file : InMoov3.hand+arm+rockpaperscissors.py
+
+from java.lang import String
+import threading
+import time
+import random
+
+# 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
+# It uses WebkitSpeechRecognition, so you need to use Chrome as your default browser for this script to work
+
+# Start the webgui service without starting the browser
+webgui = Runtime.create("WebGui","WebGui")
+webgui.autoStartBrowser(False)
+webgui.startService()
+# Then start the browsers and show the WebkitSpeechRecognition service named i01.ear
+webgui.startBrowser("http://localhost:8888/#/service/i01.ear")
+
+# As an alternative you can use the line below to show all services in the browser. In that case you should comment out all lines above that starts with webgui. 
+# webgui = Runtime.createAndStart("webgui","WebGui")
+
+# play rock paper scissors
+inmoov = 0
+human = 0
+
+# Change to the port that you use
+rightPort = "COM4"
+
+ear = Runtime.createAndStart("i01.ear", "WebkitSpeechRecognition")
+ear.addListener("publishText", python.name, "heard");
+######################################################################
+def heard(data):
+  print "Speech Recognition Data:"+str(data)
+######################################################################    
+#to tweak the default voice
+Voice="cmu-slt-hsmm" # Default female for MarySpeech 
+#Voice="cmu-bdl" #Male US voice.You need to add the necessary file.jar to myrobotlab.1.0.XXXX/library/jar
+#https://github.com/MyRobotLab/pyrobotlab/blob/ff6e2cef4d0642e47ee15e353ef934ac6701e713/home/hairygael/voice-cmu-bdl-5.2.jar
+voiceType = Voice
+mouth = Runtime.createAndStart("i01.mouth", "MarySpeech")
+mouth.setVoice(voiceType)
+##############
+# starting parts
+i01 = Runtime.createAndStart("i01", "InMoov")
+i01.startEar()
+i01.startMouth()
+##############
+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)
+#################
+i01.startRightArm(rightPort)
+# tweak default RightArm
+#i01.rightArm.bicep.setMinMax(0,90)
+#i01.rightArm.rotate.setMinMax(46,160)
+#i01.rightArm.shoulder.setMinMax(30,100)
+#i01.rightArm.omoplate.setMinMax(10,75)
+
+# verbal commands
+ear = i01.ear
+
+ear.addCommand("attach your right hand", "i01.rightHand", "attach")
+ear.addCommand("disconnect your right hand", "i01.rightHand", "detach")
+ear.addCommand("rest", i01.getName(), "rest")
+ear.addCommand("open your hand", "python", "handopen")
+ear.addCommand("close your 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.addCommand("rock paper scissors", "python", "rockpaperscissors")
+ear.addCommand("play", "python", "rockpaperscissors2")
+ear.addCommand("ready", "python", "ready")
+ear.addCommand("rock", "python", "rock")
+ear.addCommand("paper", "python", "paper")
+ear.addCommand("scissors", "python", "scissors")
+
+# Confirmations and Negations are not supported yet in WebkitSpeechRecognition
+# So commands will execute immediatley
+ear.addComfirmations("yes","correct","yeah","ya")
+ear.addNegations("no","wrong","nope","nah")
+ear.addListener("recognized", "python", "heard")
+
+#Direct verbal commands("yes | no | i have rock | i have paper | i have scissors")
+ear.startListening()
+
+
+def handopen():
+ 	i01.moveHand("right",0,0,0,0,0)
+	time.sleep(.5)
+	i01.moveHand("right",180,0,0,0,0)
+	time.sleep(.5)
+	i01.moveHand("right",180,180,0,0,0)
+	time.sleep(.5)
+	i01.moveHand("right",180,180,180,0,0)
+	time.sleep(.5)
+	i01.moveHand("right",180,180,180,180,0)
+	time.sleep(.5)
+	i01.mouth.speak("ok I open my hand")
+  
+def handclose():
+	i01.moveHand("right",180,0,0,0,0)
+	time.sleep(.5)
+	
+	i01.moveHand("right",180,180,0,0,0)
+	time.sleep(.5)
+	
+	i01.moveHand("right",180,180,180,0,0)
+	time.sleep(.5)
+	
+	i01.moveHand("right",180,180,180,180,0)
+	time.sleep(.5)
+	
+	i01.moveHand("right",180,180,180,180,180)
+	time.sleep(.5)
+	
+	i01.mouth.speak("a nice and wide open hand that is")