>>34445 >While I'm researching more about bipedal walking I'll be making a companion for SPUD to ride on, so it might be a while before I return to the thread. Looking forward to seeing what all you come up with Mechnomancer! Cheers. :^)

The reciprocating bipedal walking mechanism still needs some work, so I converted it into the walking mechanism for BUD, who is currently quite wiggly because there is only 2 bolts holding the top can on. Even so I might put in active gyroscopic stabilization so SPUD doesn't get jostled all over the place. Created a devoted version of the face mechanism to test out different face proportions/styles. Re-making the hair out of craft foam (and will use markers for shading). Adjusted proportions slightly, including shortening the arms/torso by an inch or two. Giving SPUD some dangly legs while she rides BUD. Servos are in the neko toes so whenever she hears words like "foot" or "toes" she will stretch her toes out lol. Also created a text-based program to create basic animation files (list of servo positions per frame): create 2 poses and the amount of time to motion tween from one to another. Just need to deploy it on SPUD (set default servo positions/limits and apply the servo library) so she can dance in her Christmas attire.

>>34531 This is freakin' cool, Mechnomancer. I hope the face testbed allows you many quick-turnaround iterations now. Dear SPUD's new tootsies a cute! :D

>>34533 New face proportions get. Roughly done, I'll be re-doing it with a more delicate touch (and not have to photoshop in eyebrows) after I do servo tests. And vid of a bit of security for robowaifus. A nifty bit of code if I do say so myself, since examples of the face recognition library can be hinky I whipped up my own. Face markers are generated by scanning a folder for pictures deriving name/classification from the filename. It has to do that every time the program starts up because saving the list of markers into an external text file is a bit of a chore. In future more info can be correlated to faces like contact info, notes or even conversation history based entirely on the detected face (I think I did this in an earlier iteration but I've streamlined the code more). Don't want unknown people talking to your robowaifu and learning of your plans for world domination! |:o) First the program scans for faces using a Haar cascade, then (if present) crops the face out and passes it to the face recognition library which identifies it, and does this for each face detected. (Not sure if there is a performance difference but at least it isn't running the high-overhead version every frame). You can see the examples where I've used Joe Biden, Tim Pool and "unknown" aka Ian Crossland. Of course it detects any face including ones on pictures and screens so if someone prints out a picture of your face or has it on their phone it spoofs the code lol.

>>34537 Lol. Where's the IM Team when you need them? :D > "...and apparently a rogue Ayylmao is currently impersonating a standing US President. This is a crisis situation. < "Your mission -- should you choose to accept it -- is to patch your robowaifu's recognition code to unmask the true identity of the imposter. As usual... <---> Yeah, impressive progress, Anon. I'm hopeful at some point that you'll release blueprints/software/etc for SPUD to the world. Once you think she's progressed enough to be ready for that. But even if no, thanks for sharing your development progression here with us on /robowaifu/ , Mechnomancer. It's been great fun to watch! Cheers. :^) >=== -sp, minor edit -add funposting

>>34540 >release blueprints/software/etc for SPUD to the world. I'm putting together a document for SPUD public release version 1 (internal 2.68), which will be a basic voice-controlled assistant. I want to make sure everything works well enough to give a relatively easy and fun experience for the user. Plus I have no idea what the licensing is for the software so erring on the side of caution by making the code available for free is ideal. The main functionality will be voice commands, but the user won't have to touch the main code library to add them on. He only need create his scripts in the right directory with the proper name with a few other small rules in mind when designing the action. Plus installation instructions down to the terminal commands to install the necessary libraries will be nice. There is probably some way to have this auto-generated with python virtual environments and whatnot but I have no idea how to do that so I'm going all manual. The roadmap: Version 2 has screen-face graphics (modular similar to the voice commands), Version 3 doing the whole personal LLM server thing, and Version 4 controlling a physical body. I got a sneaky idea for Version 4 to help with robotics n00bs which won't cost the user much more than $500 or so. I will probably whip up some voice commands/and other gubbins in between releases to flesh out the functionality, naturally on a special little github just for SPUD.

>>34545 Sounds like a good set of plans, Mechnomancer. Thanks! :^)

>>34545 That's amazing! I might use it in my design, but with credit ofc.

>>34537 The SPUDs rough new face.gif shows how you can get a really good look with simple parts. I wonder how much we could simplify facial muscles and still get something that looked real?

>>34545 i am planning on paywalling some things. the patreon is currently barren. kind of sad people cant donate a little bit. where are those people that were saying theyd help financially. Anyways good luck but $500 is an amount people are only willing to pay if they believe it came from a corporation.Americans hate the government and love corporations. Both are are just man made institutions. The current corporations are just inneficient zombie institutions propped up by cheap debt where employees go to warm a seat and the people in charge use as a an atm. They dont want to innovate they just want their atm machine to keep pushing out money so theyll say what investors want to hear and thats about it.They hate the government but love the law isnt that funny.

>>34587 >use it in my design, but with credit ofc. Well, that is the idea ;) I just have high standards for public release: I want releases to be relatively well-documented and easy to use. >>34637 >le simple Well, I got inspired quite a bit by Wasuarts, who used a unique way of doing the eyes by having eyelashes drawn on the immobile eyes separate from the eyelid (and the eyelid slides over the eyelash/eye combo), so for the rough face .gif there's actually 4 layers: face surface, eyelid, eyelash, eye. After all, you can't get into the uncanny valley if you never approach it :D I'm working on a more realistically proportioned face (attached, I wonder if anyone can identify the waifu lol) with a quick little idea for a flappy mouth that occured while cutting out the paper templates. I might make the eyes a little bigger, idk. Also took SPUD's breastplate off to try out some different ribcage proportions. Feels like her ribcage is too long/tall. She looks quite robot-y underneath, showing how important aesthetic panels are. I need to figure out a cloth-based way to build up her trapezeus because some of the foam I tried (the green bits behind her right shoulder) didn't work out. Of course I could just pad with foam/polyfill once I get the proportions settled and put her back in the morphsuit, with a few alterations to showcase the robot-y arms n shins.

>>34641 i aware youre very technically competent but your aesthetics is where it falls a little flat. for the mechts too. theres just no way to look carboardboard not look bad. if those mechs had a nice polishes metal surface theyd look more impressive. it doesnt have to be metal it can be chrome plated plastic. i did this on image 2 image ai. looks cooler. also imentioned once taking it around the city thatd be funny.

>>34643 That's a bit harsh. I think it looks good, especially for an unfinished/unpaneled prototype. My only complaint is that the hands are a bit big.

>>34545 I would do a CC-BY NC. Basically, anyone can use it, but you have to credit the creator, and anyone else can't market it. https://creativecommons.org/share-your-work/cclicenses/ I would look into the licensing thread, but they're into the MIT License

>>34644 i mostly meant his mechs the paper face does have it charm but it has no mouth. maybe an origami mouth? the hair is also interesting cause the hair can be messy.

Made a few tweaks to the face. Once I get these parts animated with servos SPUD will be quite adorkable. Can even do the Mina squint :D The lower eyelid thing I discovered by accident by sliding the mouth panel up further than it should, so I just put a little black on there. Different mouth expressions can be achieved by having a round mouth and the upper lip cutting it off at different points. So different mouth movement distances give the appearance of a frown/unhappy or smile all with the same graphic.

>>34650 That's great!

>>34650 Neat! Real serendipity IMO about the lower eyelid 'squint'. I bet there's a fairly strong causal-weighting with the jaw motion there IRL. Cheers. :^)

Smol update while I'm in the middle of fiddling with SPUD's new face. Printed a new version of the belly boop: now in 2 parts so it can be offset from its mount on the motor. Main plate now rests on the Ab servos ventral/dorsal rotation axis. Now the ribcage rotates around it perfectly. Delightful :3 Less of a belly boop so much as upper abs now, heh. Bicep pieces are now easier to attach/remove: new version is 2 halves that screw together and are not side dependent (print the same file twice for left/right). Might paint on an orange stripe in the recess. And motor caps now properly press fit onto the ASMC-04B motors. Enough friction to hold anything underneath them in place, but not so much they cannot be removed with a bit of effort. After the face I'll be deploying the basic servo animation program and trying it out. I already calibrated the servos/figured out the joint limits so SPUD should flail around too much :D Just a bit nerve-wracking connecting up power every single time cuz I'm paranoid about short circuits and such.

>>34747 Nice! I love the new plating. Good job on the improved motors.

A very smol update to give a taste of what I'm dealing with: making sg90-size rack and pinion setups with rather tight tolerances so the face moves where it is supposed to. Gone thru quite a few prints to get everything just right, but the final part is currently printing so I should be able to start sticking SPUD's face on soon. Didn't leave enough room for a couple of gears. What exactly are you looking at/end goal? "Poo parts.jpg" is self-explanatory so we talking about "behind le face.jpg". Big orange gear on the front controls eye y axis and it goes side/side with another rack/pinion setup. There's also those two rack/pinion setups on either side for the eyelid and jaw. The big bar on the eyelid rack is so I can manually adjust the eyelid angle once it is glued on so it is level. I gotta print another for the mouth but that is easy.

If the stomach pad was a touch pad you could make it so SPUD can be tickled.

>>34641 >>34650 Great progress. Thanks for keeping things going. Though, maybe consider making the new face bigger in relation to the shoulders. If she has big ears, it's not a reason to make the face small. She would probably look more feminine. You can try with models anyways.

>>34777 If I can find the space, I plan to add a few input buttons via raspi GPIO for heatpats, nose boops and belly boops. A lewd programmer could certainly use the concept for... other inputs ;) >>34778 Advantage of papercraft waifu faces is how quickly one can test things like proportions. Started out with the left, but proportions felt wonky so I moved the face further down the... uh... face. What looks fine on screen can take on a different life once printed off. I'm quite happy with proportions of the right one. Bigger face means more space to cram in linkages and whatnot. I used an ancient laser printer so colors are a little washed out, I'll be sure to print on a nice inkjet once I confirm it all works.

Face mechanism is finally complete (eyelid, flappy mouth and eye mounting plates are in orange), and with the new size of the face squeezing in eyebrow mechanics looks like it might be easier.

I have built a goober.

>>34799 Well that does look nice

>>34780 >proportions Yeah, I think it's better than before. >>34799 Nice. But it would still be great if the standard mouth opening (talking) and blinking would alternatively be possible with solenoids to make it less noisy.

>>34829 A robot with motor noise is like chocolate and peanutbutter. They just go together :D Plus my camera can be weird with audio levels. Solenoids might be quieter but they don't allow precise control. In fact they really only have fully extended/retracted unless you do silliness involving voltage levels, which would be hard to do with just a servo control board. And space inside SPUD's skull is at a premium. I ordered some higher quality microservos with metal gears that are supposedly more quiet. Shipment should arrive sometime next week. Meanwhile I'll have to get around to swapping out SPUD's face (and figure out the eyebrow linkages). Also ordered a shipment of smol Neodymium magnets to see if they are powerful enough to mount the face panels. This way I don't have to constantly rip the paper and hot glue to do face maintenance.

>>34834 I'm aware that solenoids don't allow precise control. My argument was to use them for some fast standard mouth opening. Not sure how you could combine this in one mechanism with servos, though. If both would options in pulling a string it might work. But if you have no space, then it's of course not possible.

>>34799 >>34834 Excellent. What a nice improvement for dear SPUD! Please keep up the great work, Mechnomancer. Cheers. :^)

>>34842 bldc work i guess and are quiet and more convinient. I dont think any of the mouth designs are good enough though because none can form the letter o. Maybe use sticks attached to a universal joint.. 6 of them. well in that case electromagnets might make more sense because theyd take up less space. But pure iron is hard to find. might work for paper as well.

>>34853 arent these things just pure iron, you can demagnatize it by putting it in the oven i think, maybe hit with a hammer to teach it a lesson

>>34854 electromagnets should be pure iron. regular magnets are made out of colbalt and something else, the best ones are the neodyum ones. copper can be pulled by a regular magnet as well when its charged and that requires less emergy however regular magnets are prone to losing the strength over time. the realistic approach of diy iron is mixing iron powder with epoxy and acetone i think bu t i dint want to get stuck on this. theres 12 volts electromagnets that advertise like 25 newtons ofce whicjlh is quiet strong but it has high energy requirements and might be overkill for the face.

>>34856 thats good, i found a table and the iron cobalt alloys have even better permeability than pure iron, like permendur ( 50/50 iron/cobalt ) thats definitely what you want for an electromagnet

>>34859 ok, this chain should be moved to the prototype thread though, ill repost everything after >>34853 to >>28715 so chobitsu can delete them from here, dont know if my script still works

>>34834 There's a warmth to the subtle whirl of gears. You can make your gears quieter by filling them with dielectric grease and mounting with I recommend silicone based grease. You can also use gaskets on your mounting screws to help isolate vibrations from her frame. If you want her facial motion servos to be quiet, I would recommend placing as close to the center of her skull as you can, and gluing felt to the inside will help to reduce noise tremendously.

>>34890 >warmth to the subtle whirl of gears Not so much, if it's a whole humanoid body full of them.

>>34890 Lube is certainly something to try. The majority of the noise is from the plastic gears in the cheap sg90s and not in the frame. I ordered some with metal gears which should reduce noise (and come pre-lubed) but won't arrive until the 17th. Taking apart an sg90 to grease the gears would be quite an experience with all their itsy bitsy little screws and whatnot. >>34894 >body full of grinding gear servos She's actually surprisingly quiet. I re-posted the arm test for ya. The sg90s are loud spazzy beasties. A quick and easy way to reduce gearbox noise is simply to move the motors slowly :D However it doesn't look like I'll get her face swapped out until I at least get those new servos on the 17th. But since she has a built in b̶o̶o̶b̶ boom box to speak with, there should be enough volume to drown out servo noises.

>>34898 >Lube is certainly something to try.

>>34900 Sometimes we make a little funny :D

>>34900 >ywn SPUD starring as Mitsuko Miyazumi... Why even?

>>34898 > I re-posted the arm test for ya. That's surprisingly quiet. Thanks.

Installed new face but haven't gotten around to installing the metal gear servos because it is a delicate operation. Tbh I might just print another face for the metal servos. Just a simple script running at the moment cycling the different servos, but I'll be adding in "expression files" in the form of txt files containing a list of servo positions. Also need to add in those dang eyebrows >_< Also started re-doing hair in a lighter shade of yellow foam, excited to do the back half and for my magnets to arrive to make the different parts modular. So if I want her to wear a hat I just yoink parts off until the hat fits.

>>34960 The new proportions look great, Mechnomancer! Nice work. <---> Please review ( >>34962 ) regarding your missing files. If you can reupload them as a dump onto >>>/meta/ then they should reappear here, last I knew. < update: please hold off on reupload'g files Mechnomancer (but please organize them ahead of time). We ran a little check on this just now, but it failed (cf. >>34968, >>34970, >>34971 ). Robi's working on some kind of tool addon to help rectify this issue. Stay tuned. >=== -add 'update' note -minor edit

>>34960 I'm new here. And I'm incredibly intrigued. I got to see a couple of your videos while lurking before the data loss but I haven't seen anything explaining the whole project. Curious what the final goal is. So far it looks amazing. Cheers!

>>34967 >remedying le great file loss of '24 Will do. >>34975 I got a description in the first post of this thread, but a TLDR would be: a simpler, anime-styled InMoov

Spud slumbers peacefully, happy with her new face and magnetically attached updo/ponytail thing.

>>34982 >Will do. Let's keep our fingers le crossed. :D >>35005 A cute! New face adds a strong dose of character-appeal, Mechnomancer. Looking forward to seeing what else you come up with for dear SPUD. Cheers. :^)

SPUD is dressed up for Christmas, and says her first words with her new face!

>>35082 Nice. Merry Christmas to both of you. That said, the voice doesn't sound very cute.

>>35082 Naicu! That's pretty appealing, Mechnomancer. GG.

>>35086 Maybe it she said an "Ara ara"? ;) Come the new year I'll be looking into training my own ai tts model with piper. Gtts is nice but cloud based (I think) and I'd like to get a local solution. All the pipers model speak too fast for my liking and slowing them down takes a considerable amount of post processing time for spuddys on board computer

>>35094 >Maybe i[f] she said an "Ara ara"? ;) Kek. This. >Araara!! Well, good evening Mr. Motosuwa-san, Miss Persocom-san...

Printed a new sternum plate (bottom right) to give SPUD a bit more of an hourglass appearance. Due to how anatomy works she'll be getting the wide female-looking hips once I put the legs on, probably attached via 3d printed ball joints. Also going to start looking into a few cloth panels (think partial muscle suit) to give some muscle definition in areas such as the abdomen (and maybe the thighs depending how things go). That way when SPUD is wearing her morphsuit she has some pleasant-looking lumps lol

>>35221 > That way when SPUD is wearing her morphsuit she has some pleasant-looking lumps lol Noice! She's already looking better now. GG.

>>35082 Very cute picture! I think for the grinding sound; you can try some sort of foam for sound absorption.

>>35221 Great, but when will you make a thin circular layer with little holes for the centers of her boobs?! This should be extremely simple and would improve her looks a lot.

>>35230 A problem I've discovered is the raspberry pi analog audio circuit (3.5mm headphone jack) picks up noise from the servos, so its actually a bit louder than it should be. Servo setup for the face is pretty tight, so I might have to redesign the whole thing to fit some foam padding between the servo mounts and the chassis. Maybe I could also look into stealing the audio off the hdmi out, but if anyone else has suggestions I'm open to it. >>35241 I am considering making some "public boobs" for her, which will be covering up the speakers. I also got some high-power magnets which I have in her ponytail (should make a vid of that at some point) so it is possible to make "hotswap boobies" kek. Ugh SPUD's hair is a mess I gotta do something about that (only taped together after all lol). Thinking of robo-boobies and faces got me thinking of Black Magic M-66 so thanks for that :P

>>35256 >"Momma! That robot has boobas just like you do!" >"I know, Johnny. Hush! Don't look at the perverted man..." :DD You can't mek an omellete w/o breaking a few eggs, bro. :^) >Ugh SPUD's hair is a mess I gotta do something about that (only taped together after all lol). Ehh, I like it. I hope you solve the audio issues, Mechnomancer. Cheers. :^)

I think I have just discovered the format by which I'll be doing a public release of SPUD's code. The Mimi Sentry even has the left side of her face covered up which is perfect for SPUD's old screen! Plus a majority of the expressions are pngs so that makes it even easier! Probably just a 4 foot 3d printed articulated figure with the screen face reacting to emotional keywords along with modular voice commands. Something to monkey around with when I don't feel like building anything else.

>>35413 >I think I have just discovered the format by which I'll be doing a public release of SPUD's code. LOL. Well it passes the retard-filter test. I can't make heads or tails of it, bro! :D >Something to monkey around with when I don't feel like building anything else. That actually does sound pretty intredasting, Mechnomancer. Good luck with this effort. Cheers. :^)

>>35422 > I can't make heads or tails of it, bro I figure the SPUDs first public release will be an 48" articulated figure in the shape of the Mimi Sentry -someone made a waifu version of a sentry turret from TF2- using SPUD's old screenface code. Will have screenface expressions and modular voice commands and I'll try to find some bleeps and bloops for sound... maybe make some stop-motion videos with the 48" figure, convert it into a nerf-shooting turret, idk. Been working on making the mesh suitable for 3d printing... the chest is probably going to be my longest print ever (I separated the legs into segments cuz they won't fit on my 30cm printer). Also going over a proportion check for SPUD so I can start trying to make the squishy thighs. Just need to resurrect that model of the inmoov ball joint and make the hip mounting pieces, including a mounting plate on her bum so she can sit flat on surfaces (SPUD is currently bolted to her stand lol)

>>35448 At 4 ft, that models pieces look like they should fit onto a small printer comfortably. If you'd be willing to send a copy to me, I'd like to adjust the parts to fit onto a 180mm^2 build plate.

>>35448 >using SPUD's old screenface code. OK, heh it's all coming together now! :D >proportions They all look pretty waifu-tier, but the head. IMO it's too wide. Regardless, really glad to see you focusing thought on dear SPUD's ratio & proportions! GG. >>35456 >I'd like to adjust the parts to fit onto a 180mm^2 build plate. This. While during this prototyping phase it's not quite so important, if we're going to open this up for everyman (a personal agenda of mine) then we need to focus on kit manufacture using the smolest, cheapest, lowend-est systems available. This will help to ensure the broadest possible reach of robowaifus to men around the world.

>>35456 >>35470 >fit onto smol build plate That's why 9 times outta 10 I make sure it fits comfortably on my Ender 3 (220x220x250) instead of my Ender 3 max neo (300x300x320). But tbh the mimi sentry feels more like a lot of it could be done with papercraft. idk either way I ordered 4kg of filament to start printing a mimi. >>35470 >wide head its the chobit ears. A bit bigger than a standard chobit as they hold actual hardware :D

>>35471 >wide head >its the chobit ears. A bit bigger than a standard chobit as they hold actual hardware :D Have you ever considered putting her camera in a decorative choker? It would center her eye for an equal field of view, preserve her symmetrical face- no one-eyed look, and do away with the sorry, but to me ugly chobit 'ears'. Done well with stones around the lens, it might not even be obvious it was a camera. Before I decided on stereoscopic vision for my waifu I was planning to do this, since the ezrobot/synthiam supports only one camera.

>>35472 I have 3 reasons for chobit ears/mono camera. 1) They're iconic 2) A neck camera screams "input 6" 2) I do fine without stereoscopic vision so I figure SPUD will, too.

>>35473 >1) They're iconic meh. To me the look always screams 'milkmaid'. >2) A neck camera screams "input 6" LOL. Hadn't seen that before, that's definitely done wrong. >3) I do fine without stereoscopic vision so I figure SPUD will, too. Yup, many robots do, and I may find out what that's like- For Christmas I got a floater(s) in one eye. Time will tell. Forgot to mention her hair would never be in the way, but...

>>35473 >that game Heh, may as well pay the Hollyjew at that point. Ehh, at least they're more honest than M3GAN about it all. :^) <insert: 3-whites Miku-chan You're mine, Anon...FOREVEEERR>

>>35448 I've been on the fence on whether to share this but whatever. I've given up on the idea of making money from this ff... You want the hip to have two degrees of freedom not one, so it should be a spherical joint. Here are the files for the spherical joint https://www.thingiverse.com/thing:4857920 I figure I'd attach 3 sticks to the surface to attach it but i'm kind of struggling tbh. I hope my sacrifice will make people want to do a little more effort and idk maybe download nvidia issac and read some tutorials about it cause we could do a lot more as far as ai if we can get a model into the simulator. I'm scaling down the scope of this thing personally as a single person effort.

>>35486 mujoco is lightweight too. Its just a pain to code but you can tell chagpt to code it for you.i made a plugin for blender to mujoco with chatgpt before o1 i think. its not perfect but it'll get the rotation and location of the 3d model right. i overlooked it because it couldnt make two gears rotate but realky its not meant to be used that way now that i think about it. Like say you know the torque of the hip. Youd use that value without actually simulating the gears i think... i tried to collaborate with hannah dev but he doesnt want to. anyways here it is. https://github.com/HannahAnimatronic/mujoco_blender_plugin

Nicked a balljoint from inMoov and modified it into a modular hip joint. Right leg is installed and tested while the left leg is waiting on the final mounting piece. Then I can start work on the thigh padding :3 Might wait for the next shipment of filament to arrive before tackling the shin panels, idk. Also started work on the hotswap boobs via magnets, not yet ready for public display yet (cuz SPUD currently has only 1 boob on lol).

>>35514 If you'd like to use any of the boobas I posted in the MaidCom thread today, I'll share them with you. Just tell me which one and your preferred file format. I'll share it through catbox or litterbox, your choice.

>>35514 Looking forward to seeing how you and others here solve the hip joints. IMO, this is the most-pressing physical design problem for us all r/n (cf. >>35338 ). Good luck, Mechnomancer! Cheers. :^)

>>35514 the strength of the motor will be determined by the following formula. torque of the hip in nm=weight of the robot in kg* length of the leg in meters*sin(45) list me in the list of constributors asshole https://m.youtube.com/watch?v=d0x2Y1AwYz0&list=PLgXTfFM40HqEMwg9rJ078INRYWDCG66B3&index=2&t=621s&pp=iAQB

>>35520 Thank you for the offer, but I'm trying to avoid having SPUD's booba be NSFW (it might be a little contradictory lol). Already got one printed, sanded, speaker installed and magnets attached. When the other one is finished and installed I'll post pics/vidya to get the full effect. Tempted to uncover the speakers RGB LED to give SPUD a lightshow in her ribcage :D >>35531 I never said I used inmoov's *shoulder* joint for SPUD's hips. Check out Inmoovs neck: I played with it a while ago >>30525 >>35475 >screams 'milkmaid'. Well, I hear some folks like cowgirls :D >>35526 I might have to fiddle with the hip tolerances, because it's very easy to dislocate the hips when grabbing from the foot as opposed to right next to the socket (due to leverage and all that), but since there is some hollow spacing in the print I could just put in a bungee cord. Idk have to faff around a bit.

>>35537 The hips serve to handle an incredibly-broad range of dynamics/loads in humans. Women especially. I don't think we have to 1/1 match that in our attempts at biomimicry, but if we can do (pulling this out of my ar*se) maybe 80% we can probably pull off pretty convincing humanoid gaits & other behaviors sufficient to produce pleasing robowaifus. By 'pleasing' I also mean ones that can accomodate the womanly form in the hips volume available, yet still manage to be the literal nexus of (in effect) all the kinematic moments of a humanoid skellington in motion. >Tempted to uncover the speakers RGB LED to give SPUD a lightshow in her ribcage :D DOOEET!111 :DD >=== -add funpost

>>35539 >Robot hips I might revisit bipedal robot locomotion in future, but its going to cost at least $500 in ASMC servos. Idk if it would be smarter to make a janky SPOT/robot dog clone for promotional first (I could get a small raspi robot dog kit and just connected to some ASMCs). At least I have a majority of the bits I'll need for either of those projects already designed. Could make SPUD into a SPOT centaur lmao. Now that I think about it, that would be a very smart idea...

>>35540 >Now that I think about it, that would be a very smart idea... Yeah, it could be. We've talked about the centaur concept as an interim approach (cf. >>2983, et al). The many little robokits available now probably make sense for prototyping IMO. Good luck! :^)

Magnetic boobs are installed, haven't mounted the speakers yet because some of the wires broke and I need to re-solder them. Took about a half hour of sanding to get them looking kinda smooth.

>>35563 Nice! They've really got a good-looking booba form, Mechnomancer. GG.

>>35563 It's looking more and more complete, nice!

Looking into using a waifu voice changer to create a training dataset for a Piper TTS model, so far I found 2 voices that I liked. To make the training dataset I'd have to record like 100+ sentences which would take about 2 hours. I could probably find a way to semi-automate some of dataset generation between voices, but each voice changer model has its own quirks... "cross the road" is a bit more ara ara while "goat company" is more owo... which one do you think suits SPUD more? Personally I'd like something more in the middle but that seems hard to find...

>>35588 The right one fits your design better. Though I am curious, will your software be local or rely on external services?

>>35591 Public release 1.0 will be able to run entirely on a raspberry pi: - vosk, a 50mb speech recognition model - Piper TTS: a low-latency TTS model streamlined for use on the Raspberry Pi. - Local code to integrate them together - easily mod-able voice commands/expressions: just name your files properly in the corr0ect directories to add more. Public release 2.0 will have the toolkit (script & setup instructions) to set up your own GPT4all (local LLM) server on a standard gaming computer and communicate to the avatar (aka robowaifu) over home wifi. I've started the journey of printing my mimi sentry. It will take quite a while though so I hesitate to post pics... maybe I should make a separate bread? idk

>>35598 Awesome! It sounds a lot like what I was recommended in my inexpensive AI thread. Great minds think alike.

>>35598 I would say start a separate thread, but later when you made a significant amount of progress.

>>35588 >those mp3s Kek. Araara, ofc. :D If you ever make a headpat daughteru, then I'd say the bleating one. :^) Nice work, Mechnomancer. I hope you find a good & flexible automation approach to the dataset generation. Such simple little tools can significantly-improve your day, once you get them sorted. Cheers. >>35598 >Public release 1.0 will be able to run entirely on a raspberry pi: This. >maybe I should make a separate bread? idk I'd say that's fine, if you really plan to diverge it notably from dear SPUD to the point its hardly related thereafter. Otherwise, I'd suggest you keep it ITT, due to our 'thread budget' here. Your choice, mate.

>>35601 >new bread? we got a budget bro Well Mimi Turret waifu gonna be using some old SPUD code cleaned up for public release so I don't think she will be too much of a departure. She gonna be a non-powered 4 foot action figure with a screen face and rotating light... maybe afterwards I'll mod in a working AI nerf turret. Been printing mimi parts nonstop since Friday and don't even have a single complete leg yet. Doesn't help I'm down one printer since the other keeps being 3 degrees below target temperature triggering safety shutdowns. Quickly threw together some squishy thighs as material testing. I'll have to make new ones that are symmetrical (make an actual pattern instead of just eyeballing it) and pull in the hip ball joints a bit, even so it really helps give SPUD a feminine figure. Will probably look really good when I get the morphsuit on her :3 Uh also installed the rgboobies but they don't show up much so I gotta move 'em further into the ribcage. Also got an ambient head movement script going but I haven't taken any vids of that.

SPUD make-a the joke-a

>>35617 Wow! those thighs/hips really add a lot to the femine look of SPUD along with her cute booba. Good luck with the hips, Mechnomancer. >>35643 Very nice. All the parts are coming together, Anon. After seeing this, I kind of think that's the best voice for SPUD after all. Cheers.

>>35661 >best voice for SPUD after all I hope things don't get hinky when I try to make my own speech model. To train the model you need a .wav file and a transcript of the .wav file, so technically I could use promotional voice lines (like her little pun) as part of the training data. I gotta increase the volume of the speech files, that and use a bluetooth speaker until (and if) I can figure out how to mitigate the emf noise (gonna try a ground-loop noise isolator). Because its not just motor noise it picks up in the 3.5mm jack, but *every time I move the mouse*. There's some phreaking going on. In other news the first milestone of the Mimisentry is approaching (a leg) so I'll be sure to post that when its ready.

>>35669 >To train the model you need a .wav file and a transcript of the .wav file, so technically I could use promotional voice lines (like her little pun) as part of the training data. One of our based OG geniuses created WaifuSynth (cf. >>5698, et al). I'd recommend you research this remarkable tool before spending too much time rolling a solution. Could be it will help you get far down the road towards your goals in this arena. Good luck! :^)

>>35669 Kokoro can blend voices >>35678, though apparently only from it's own voice banks. Would be great if we could add more. Anyways, the current voices are good enough for robowaifus.

>>35669 >I gotta increase the volume of the speech files, that and use a bluetooth speaker until (and if) I can figure out how to mitigate the emf noise (gonna try a ground-loop noise isolator). From my layman's perspective, a good starting point would be to increase EMI shielding. Have you tried using shielded cables for audio?

>>35703 >shielded cables for audio? I'm not just picking up motor noise from the servos but getting little bleeps and burbles literally every time I move the mouse, it seems like an issue with the soundcard picking up emf from the graphics. Either a very goofy speaker system (doubtful) or the pi 4 doesn't have good 3.5mm... from what my research indicates the 3.5mm is something like a gpio right off the processor so its pretty primitive (relatively speaking). I got a variety of bluetooth speakers to use, and they don't seem to pick up any noise.

>>35705 It might be tedious, but you could do faraday cages around the circuit boards. Maybe look into HVAC tape / foil tape for the wires.

>>35669 You need shielded twisted pair cables. Alternatively you can use a fiber optic digital cable but that is assuming the noice isn't coming from the circuit board itself.

>>35717 >assuming the noice isn't coming from the circuit board itself. Yeah pretty sure the PI just has a noisy 3.5mm jack, especially when you put volume on max. I could use an HDMI to aux extractor dongle but bluetooth will be less of a wiring headache. Got the majority of a mimi sentry leg printed (need to print the kneecap and heel). Joints are nice and tight but I had to make an entirely new ball instead of using the inmoov one. I get the other leg printed and she'll probably even be able to stand by herself. I'll be releasing the files on thingiverse once I got a full mimi printed.

>>35726 Seems like it's coming along, Mechnomancer. Looks like you're going for the whole 'military mecha droid' thing here. I get the appeal. I've personally chosen to reject that appeal, and the concomitant money that certain (((totally-have-your-best-interests-at-heart-goyim))) sources put on offer. :^)

>>35727 It be a waifu version of a turret from TF2 that is a bit of an internet meme. I might make some (nonpublic) mods to get it to fire a nerf gun but I figure a recognizable meme robot would be a good vehicle to release SPUD screencode and act as a funnel towards SPUD (the cutting edge of mah robowaifu technology). https://youtu.be/Joi7C2kxRbA https://youtu.be/RFyfUo-TdCI

>>35729 I see. I always like the Sniper from TF2. Probably my best alignment. Your work so far certainly seems to be on-model.

Yup a ground loop noise isolator did the trick. They're a very interesting little gadget. Now just have to make sure the sound file volume is high enuff. Also going to look into deploying arm movement while SPUD does her voicelines so she can a speak-a lika da italiano mamma mia bippity boopity.

>>35742 Oh great! I'm glad you solved it with such an inexpensive & smol solution, Mechnomancer. GG.

Exploring a few different voice models, found one that isn't so uwu and did a (hardcoded) arm movement while speachifying. The good thing about training a piper TTS model is that you pair a transcription of the audio sample in a simple .txt file. So if I just make a bunch of promotional videos I'll hit that 100 sample minimum in no time.

>>35908 Lol. >secondary, social, verbal-emphasis, body-language animations... <"Mama mia! We makeda gesturesa!" Yes, this is a complex psychological domain IMO. Fortunately, we have umpteen zillion realworld example videos for contexts, and this area of investigation should be even easier than the simple tasks that basic LLM research tackles. <---> GG, Mechnomancer. SPUD's looking really good! Cheers. :^) >=== -fmt, prose edit

I finally bit the bullet and added eyebrows to SPUD... just by gluing some servos onto her forehead. I'll try to figure out a less orky way to get the eyebrows on, but sometimes groucho eyebrows can be cute on a waifu :3 Audio is better because I'm using a bluetooth speaker, however when that plays audio the speaker is silent for a second before it is audible, which is easily compensated for by simply having a second of low volume noise at the beginning of each robowaifu speech file.

>>35930 Lel. >eyebrows <Needs moar cigar! And don't forget the funny glasses...

First outfit for SPUD!. I need a voice-activated program to help me pose SPUD during the fitting process. And turns out the standard size servos (rated for 70kg/cm) suck up a lot of power when active, so I might put in a circuit to cut power to them when they're not active.

>>35958 Naicu. Now she can go out in public like a proper lady. :^) >I need a voice-activated program to help me pose SPUD during the fitting process. Totally makes sense.

>>35958 Did you pluck that off a Halloween scarecrow decoration ? lol

>>35958 If you're looking for more cheap outfits, AliExpress has some great cheap cosplay dresses

>>35930 Neat! And I don't think gluing is bad, a lot of commercial/professional products use glue.

>>35967 >Did you pluck that off a Halloween scarecrow decoration ? Cuz she gonna make a corny joke :D

>>35983 Heh. At this rate, I predict dear SPUD will be very popular with children & their mothers at the tri-county fairs, Anon. You should collect up a bunch of these. Scarecrow motif is basically funny by default IMO.

Mimi sentry legs are complete and a quick mockup for the doggo legs (using an actual mini robo-doggo)

>>35994 >Mimi sentry Really a design well-suited to 3D-printing by the looks of things. >SPUDtaur Very creative! I hope to see this one day soon, Mechnomancer. Cheers. :^)

>>35994 Speaking of TF2...

I finally got SPUD working with a GravaStar Mars speaker (don't worry I bought it open box & on clearance) and 3d printed a low-poly mockup for the mini-doog. For the scaled-up version I might tweak the leg length, and if that doesn't work I'll have to deal with SPUD being a midget walking around and only standing at human height on back feet. To counterbalance the weight of the torso I will install a 900W UPS battery backup, which will also power the robot that way I don't have to design my own power system for switching between wall plugs and onboard power. Might have to redesign the spine to keep the torso level while walking.

>>35994 Asthetically, I like the sentry legs. Reminds me of Marina. https://www.youtube.com/watch?v=K4VxOr31kzI Also, that concept looks like something I'd drawn a while back where I effectively planted a robot torso on top of one of those quad bots. Even if you didn't use my picture as a reference, it's cool to see my drawing manifest in 3-D space.

>>35994 >>36044 >>36049 I just came up with an idea, with an old, long dress, you can preserve an illusion of a humanoid form. However, you might need some stilts in between the robot dog and the torso.

>>36044 That speaker is sounding really clear now. GG. >>36054 >inb4 /monster/ , pls. :D Good thinking. You might check the MaidCom #1 thread, GreerTech. ( >>15630 )

SPUD now has shins, meaning the majority of the 3d printing for her is (hopefully) complete.

>>36122 Stylish!

>>36054 Hiding her hind legs under a dress is a clever idea. >>36122 They look great! Striking a good balance between robotic and human in aesthetic.

>>36125 >>36154 Sometimes simplicity is the best option :) For lulz I removed SPUD's seat and have her standing on her... well... stand. She's floating about 8" off the ground. While I do plan now to make the thighs a wee bit longer They won't be 8" longer so I gotta modify the stand a bit. Hey maybe I could put wheels on the stand and use that to drive her around :D

>>36163 >Hey maybe I could put wheels on the stand and use that to drive her around :D DOOEET! The internals of a little car kit should give you the essentials. Little tweak here, little drill there & Bob's your Uncle! So cute seeing that chobitsu ear with cord running out of it! :)

>>36164 >little car kit gonna need to use chonky motors tho (which I have in spades) I managed to get pyfirmata working with an arduino mega, which means I can control an arduino mega using the raspi over USB. 16 analogue pins and 52 digital pins should be more than enough for SPUD to interface with a mobile base to allow some semi-autonomous movement. Cant do more than 1 arduino mega because that introduces a spectacular amount of lag (or maybe the floating pins were causing silliness). A good chassis to attach the power supply, and once I build the robodoog chassis I can use this chassis to retrofit the workshop waifu (robowaifu v 1.0 "Carry")... Did a test waggling the feets in a circular walking motion. Wouldn't look too bad imo. Need to make the hips less wide tho. Even so, the trick to avoiding uncanny valley is to stay away from it after all :D

>>36278 >gonna need to use chonky motors tho (which I have in spades) Yep. Really just meant the control electronics/remote/etc. >robodoggo One of our ideas was to have a chairseat at the prow of the mobility base for MaidCom/WheelchairWaifu s . What do you think about the idea of having dear SPUD just sit down on the doggy and motorvate around that way?

>>36283 >control electronics/remote/etc I mean perhaps I could: I do have a spare one sitting around that is controlled via smartphone app. It would be possible to make it switch between app control and onboard computer (SPUD) controlled. >robo doog wheelchair Having SPUD looking like she's riding the doggo is an option, but having the entire robot look like a single unit is rather tempting. Been roughing out some panel shapes with scrap foam for SPUD, I'll definitely have to make some covers for SPUD's lumpy legs, and they'll probably lie a bit better when compressed with a morphsuit.

Yeah, SPUD looks ok in her morphsuit. Need to figure out how to get it to hug the boobles more, and shift the codpiece down by about 6cm so the gap between the hips/shin is less pronounced. And print some panels to cover the transition where the squish thighs go into the knees.

>>36364 >>36367 Very nice progress with the pads + suit, Mechnomancer! This should look really slick once you've gotten everything worked out here. Cheers. :^)

>>36367 >morphsuit Do you plan on changing out suit often? You could always utilize velcro to the boobs. Red area is where I'd put some. Blue is if there's not enough boob hugging with the red alone. You could maybe utilize velcro for the other parts as well.

>>36364 This looks really promising, especially considering a power mesh suit on top keeping everything in the right shape. Probably better to use leggins and some top separately, to keep her internals more accessible. Also, maybe roll some soft textile up for the internals of the legs. >>36367 Ah, this went ahead quickly. I didn't look at the other pictures while writing that above. Excellent.

Been dealing with some irl stuff, but I've now had time to print some nice thigh-high covers for SPUD's thighs. The lumps on SPUD's right thigh (frame left) are because I didn't sew the thigh pouch: I hot-glued it. I'll sew some nice ones once I'm sure everything will work out. I'll need to address that indentation where the hip meets the leg. Can probably use some stretchy fabric to go in-between and change the height of the codpiece To attach SPUD to a stand, I'll use a trailer wiring harness with the socket in the base of her spine, and the plug on the stand itself. That does mean I'll need to redesign some of her bum plates (hehe bum hehe). Oh, and the I2C wiring got disconnected from her body servo control boards while stuffing her in the bodysuit. Whoops!

>>36980 Naicu! Thanks for the update, Mechnomancer. Hope your AFK adventures are good. >trailer connectors Good thinking IMO. Anywhere that commoditized things can be (re)used in robowaifu systems -- and serve just as well as a purely-custom solution -- then all the better. I'm sure you'll work things out with the hips/thigh intersection, Anon. Kiwi has been working through some ideas in that area as well lately. Cheers, Anon. :^)

AFK adventures have taken longer than anticipated, including the need to repair all my 3d printers: I never did have more than 2 working at a time, and now I have all 3 running. One of them occasionally likes to screech an error alarm without an error showing up though. Another requires a 500% filament flow rate in order to print without ghosting (still uses a comparable amount of filament as the other 2). Such silly machine spirits. I have printed and laid out the torso motor mounts for my scaled-up robot dog base I hope to use for SPUD, I shall call it "Sploot". Hope that it stands about 3 ft tall. I've been working with Gamemaker Studio recently, and might have come up with a solution to use that to introduce autonomous navigation for Sploot. It's a janky and goofy idea, I know. But I am familiar with the program and all the other autonomous navigation systems feel so esoteric to me. SPUD's current sitting position makes her look like she has a spare tire and I'm too embarassed to post it here (she is too lol). With the 3d printers working again I'll also start getting back into printing the mimi sentry files so I can have a body with which to do a public release of SPUD's code.

>>37401 Nice! (thumbs up)

>>36364 > Having SPUD looking like she's riding the doggo is an option, but having the entire robot look like a single unit is rather tempting. You could make her a centaur so you can ride her around instead

>>37401 Hello again, Mechnomancer! Glad to see you managed things and making progress towards dear SPUD's mount. >Sploot <""Now here's SPUD & her trusty sidekick Sploot!"'' I like it! :D I'm sure you'll work out the forms & shapes with time, Anon. Patience.

>>37405 >You could make her a centaur so you can ride her around instead Giggity. Serious tho, I don't think the motors would be powerful enough for that... or maybe the 3d printed parts wouldn't be. I'd have to do some durability testing (not in the giggity way!). >>37410 Sploot's form and shape is turning out to be quite the chonk at least :D (1kg filament spool for scale)

>>37413 Impressive. My instincts tell me that cannon bone is going to struggle bearing the weight of Sploot+SPUD. Ever consider metal for these leg bones & joints? Mayhaps you can devise something similar to the suspensory apparatus [1] in hoersbros. Light, but strong+resilient. Also, do you plan to have some kind of fetlock-like joint (possibly containing wheel[s] as well?) at the distal ends? <---> Just some ideas. You're already making great progress with Sploot, Mechnomancer. Again, its impressive! Cheers, Anon. :^) --- 1. https://www.anatomy-of-the-equine.com/suspensory-ligament.html >=== -add'l edit

>>37414 I've worked with PVC long enough to know its limitations ;) I'm more concerned with the strength of the 3d printed bits, but I can increase infill as necessary. Might put in some sort of compression spring in some of the linkages if things get too bumpy. Definitely need to print some feets. The screenface code for SPUD is a complete mess so for the public release I'm rebuilding it from the ground up. Using PIL to overlay images and using opencv to display the image is much easier than using opencv for the whole compositing process. I haven't yet tested it on a raspberry pi so I might need to optimize it some more. Next step is to actually make some more mimi-sentry face graphics so I can actually have files for the code to scan a directory, generate emotion keywords and load the graphics into memory.

>>37567 Nice! Really looking forward to these advancements of yours, Mechnomancer. Cheers. :^)

Doesn't look like much progress, but there is now ALOT going on underneath the hood. When the code begins, it scans the face directory generating a list of keywords based on the file names. If there is the proper # of files for the keyword, it keeps the keyword and loads the corresponding set of images into a list (in the computer memory, much faster than opening the file every single loop of the code). These can be called upon using the same index as the keyword list. If there is an improper # of files (not exactly 5, or you misspelled the filename) the program simply won't load the image file set. You can technically name the files anything, but it loads them in alphabetical order in the order for eyes closed, eyes open,iris, mouth open, mouth closed. It also doesn't start the program if no valid face files are loaded. TLDR: if you name files properly you can easily add more expressions without touching the base code Cycles between faces using "D" and make the mouthflap work with "S"... opencv is a little wonky with the key detection so it spazzes out a bit Making the graphics easily expandable was the hardest part. Now on to integrating voice commands and making those easily expandable... vosk doesn't like to play nice with others so I'll see what I can whip up.

SPUD v PR.0.73 has been successfully deployed on a fresh raspberry pi image using the instructions I bundled with the code. The default orientation of the face is for landscape monitors, which I modified in order to do the portrait config in the video. It needs a few small tweaks (such as the mouthflap threshold), make sure other functions work (such as voice commands and expression keywords) on the OS, and make some more pre-bundled assets (expressions/voice commands) before I release it. Your graphics can be any resolution you please, so long as they're all the same size and you follow the sample graphics of which parts need what transparency.

>>37625 Thats excellent, Mechnomancer. This is a really cute addition to our Screenface discussions now! Cheers. :^)

Pringle got a nifty retro keyboard :D When idle, Pringle will randomly look around, make random expressions, and the face will tilt randomly. Also added a bit of a bloom effect to the screen (hard to see at low res). I'm going to check some higher res simplified face graphics to see how they work. Just have to add something so the user can easily adjust the screen/image resolutions and double-check voice commands then I'll be ready for public release.

>>37734 Reminds me of the original Macintosh. I assume that's on purpose?

>>37734 Very kawaii, Anon. Needs moar hair bows & ribbons! :^)

>>37741 >>37743 I'm just going to let Pringle speak for me.

>>37747 Hahaha! Nice!

>>37747 Lol Heh, OK fair enough dear Pringle. :D

>>37747 Building a gal like picrel?

>>37769 That's pretty sweet actually.

>>37769 Pringle is gonna just be a bapple chillin' on a table. I need to do more R&D before releasing a humanoid torso. She would be telling ya this but the contact cement is drying on the rest of her case.

>>37816 >Pringle is gonna just be a bapple chillin' on a table. So, kind of a Visual Waifu type deal then? (cf. >>240 )

>>37819 Nah, more like a bust. Haven't been doing much robowaifu since the weather has gotten warmer, but I have been working with I2C multiplexers, which allows reading multiple I2C devices with the same address. They're such a pain in the arse tho. Only examples I've really been able to find are thanks to chatgpt (who is a bit snarky when it comes to coding, funny enough).

>>38299 >but I have been working with I2C multiplexers, which allows reading multiple I2C devices with the same address Great! That is a very needed solution, since addresses will become sparse when we have literally dozens of network channels all running 'live' within a nominal, advanced robowaifu. Anon created an IPCNet document here, which may play into some of your research efforts (sorry, I don't have it on this box, and I've currently lost track of the crosslink -- its here on our board somewhere. Our RDD [ >>3001 ] has some of it). Also, our Self-Driving Car bread ( >>112 ), contains reference to The Car Hacker's Handbook ( >>772 ) (which free-book site was (((pulled b/c """reasons""", I'm sure))) -- you should be able to find it with a search... maybe Wayback Machine has it?) Its got tons of great technical details on these low-speed networking specifications/protocols (primarily the CAN bus). Good luck, Mechnomancer! Cheers. :^) --- >update: I found it and reposted it on our bunkerboard. We deffo don't want this getting memoryhole'd on us!! :^) https://trashchan.xyz/robowaifu/thread/26.html#1000

>>38300 After fiddling with mutiplexers I've found it to be more trouble than its worth. But I am working with chatgpt to make a library that allows for a host computer to control an arduino over serial (like pyfirmata but less crap) which I'll be calling "Mechduino". So far digital read/write and analog read is implemented so you can have multiple arduinos (since they have separate com channels) for many digital inputs/outputs. There was also technically I2C functionality but there is a tendency for the arduino to desynch commands, sending garbled i2c data. I accidentally bricked the arduino while doing this and if I can't re-flash the firmware I'll have to wait for my new one to arrive in the post. I'll probably end up releasing Mechduino first on github, then Pringle. I also got a 4" square lcd screen which I'll probably recommend using for Pringle instead since it is smaller, less filament and no parts of the screen hiding behind a facade.

>>38391 I haven't had time to dig into the I2C protocol yet, but in my experience all these serial protocols support some kind of 'sync' or 'keyframe' signalling. Maybe you can get your LLM to dig into that for you. >a 4" square lcd screen which I'll probably recommend using for Pringle Honestly, I think that's sufficient for this kind of waifu platform. Just something that can sit on a table or desk, and provide chatty talk w/o all the GH-grief of an Al*xa, et al. Good luck, Mechnomancer! Cheers. :^)

>>38400 From what I can tell GPT made the code so the arduino sent data however it pleased, so sometimes the serial bus would start sending an I2C command while in the middle of sending an analog pin command and mix them up in a big gobbdeygook (despite me asking it to fix that later). To fix this I asked started a fresh prompt to make the arudino always send its data in a specific order (rcvd commands from python/write digital pins, write to I2C, send digital/analog pins,read/send i2c, and repeat). If I can fix my arduino mega I'll try it soon. I technically do currently have a 2nd arduino mega but its currently in Carry the Workshop Waifu (robowafiu 1.0), who I actually managed to get running old pyfirmata and just about back to full functionality (an owo oscar the robot), but I don't wanna cannibalize her again. Not sure why a robowaifu would need so many inputs but it is a good thing to have for future projects and something less crazy than using all the crappy, difficult-to-use versions of pyfirmata.

>>38415 >GPT creates ad-hoc, rando sequences to use over a strictly-defined protocol <B/C HURRDERR WHY NOT!? Heh, sounds like a bit of an ordeal to sort, bro. Good luck with your Arduino. Hope you can unbrick it soon. <---> I remember dear Carry the Workshop Waifu. I hope you'll keep her around for our planned future Robowaifu Museum (cf. discussions w/ @SophieDev on this). >Not sure why a robowaifu would need so many inputs but it is a good thing to have for future projects Heh, I expect Anons can burn through 'em faster than one might expect! Good luck, Mechnomancer. Cheers. :^)

>>38400 After wrestling with gpt hallucinating and forgetting things I finally managed to get a basic version of Mechduino operational. read/write to arduino digital outputs, read arduino analogs and some basic I2C communication (I have no idea how to initialize the devices properly so the ADC gives me something random. Printing out all the diagnostic data so I can see what's going on (digital pins are 0 for disconnect and 1 for connected, analogs are floating so they're giving random values) Such a pain working with chatgpt but easier than figuring it out on my own, and I finally got what I wanted. >Keeping Carry of course. get her back fully operational and she'll be one of my promotional bots when I go to events.

>>38424 >Printing out all the diagnostic data so I can see what's going on (digital pins are 0 for disconnect and 1 for connected, analogs are floating so they're giving random values) Very smart! Such diagnostics are indespensible for debugging communications & whatnot. >Such a pain working with chatgpt but easier than figuring it out on my own, and I finally got what I wanted. I'm sure you'll get everything sorted. >of course. get her back fully operational and she'll be one of my promotional bots when I go to events. That's great news, Anon. Cheers.

https://www.instructables.com/I2C-between-Arduinos/ https://www.circuitbasics.com/how-to-set-up-i2c-communication-for-arduino/ https://www.youtube.com/watch?v=PnG4fO5_vU4

>>38428 picrel :) Mechduino is interfacing python with arduinos: the master computer being windows/linux (mac yuck!) running the python script controlling an army of arduinos over USB for a zillion inputs/outputs. I2C via the arduino (and eventually usb) is nice cuz some computers don't have the native port for it and you then wouldn't need a multiplexer (which I discovered are a pain to work with) to have multiple i2c devices with the same address: you just slap another arduino on there and call it a day. >>38427 Well everything is finally working, I just need to figure out the protocols for working with the i2c devices (you gotta "wake them up" and stuff)

>>38424 You should find a way to have Carry be able to move. Even a wired remote control with a completely analog system could do wonders. I'm considering this design for outdoor/casual Galatea use.

>>38431 >Well everything is finally working, I just need to figure out the protocols for working with the i2c devices (you gotta "wake them up" and stuff) I'm sure you'll get it. >>38432 >I'm considering this design for outdoor/casual Galatea use. Neat! I think that would be a really good idea, and would be a real nice example of 'sharing is caring' -type collaboration. <---> Cheers, Anons. :^)

>>38432 >You should find a way to have Carry be able to move Funny you should say that (see video of the first version). Carry was my first diy computerized robot, so when I accidentally snapped her sd card a while back and lost the legacy code it wasn't much of a loss cuz (it was so janky). I pretty much re-wrote it in like 2 afternoons... except the only control input is voice commands! She's a raspi interfacing with the physical world (ie controlling motors) via an arduino mega running firmata (I might upgrade to Mechduino). I did upgrade the motors so she'll actually be able to move on uneven surfaces and replaced the tractor battery with a backup power supply. I just need to get around to implementing keyboard commands, checking her battery runtime and some aesthetic tweaks such as putting her skirt back on (how lewd!)

>>38451 That's pretty cool! With AI Integration, you'll basically have a bonafide robowaifu!

>>38451 Nice to see dear Carry again, Mechnomancer! Cheers. :^)

>>38506 Nice to see that family portrait again, Anon. Any chance you'll do an 'extended family reunion' one sometime, Mechnomancer? (So, dears SPUD, Sploot, & Pringle too?) Cheers. :^)

>>38451 that really is incredible gj

>>38513 Probably do an updooted mech family pic this fall. I'm hoping to make Mechduino the standard for all my constructs. Plus I still have to zero out Sploot's servos. Plus I'm working on making the mech a hexapod (yes, a ridable pilotable crab-centaur mech) and converting that powerarmor from a Yggdrasil into a Madox (both designed by Shinji Aramaki lol) but that really isn't robowaifu related

>>38522 Sounds pretty ebin, actually. Looking forward to it, Mechnomancer! Cheers. :^)

First successful deployment of Mechduino with a simple blinka test... and repurposing VGA cables for communicating to the leds just cuz I can (fun fact vga cables only use 7/15 pins). I gotta double-check the pin count but I think I could get away with having an arduino uno in Carry instead of a Mega. I also got a handheld wireless mouse with a gyro sensor in it for Carry. Won't use the gyro sensor for much but it has keyboard arrowkeys/pageup/pagedown/home/backspace equivalent so it will be enough to remote control Carry and hide in a pocket. Will probably do the final control mapping and power tests tomorrow.

>>38548 Carry definitely has a lot of potential

>>38548 >Using a VGA cable Heh, clever idea! Industrial machines use serial ports that are very similar. I've been considering using ethernet cords and connectors. Shielded twisted pairs are great for resisting EM interference. You may want to try something similar, with isolated power lines for your motors. >>38549 >We should stop Don't speak for him, this is a place for sharing and collaborating. Not for whatever closed shit you're trying to do.

>>38548 >First successful deployment of Mechduino with a simple blinka test... Gratz! Nice progress, Anon. >and repurposing VGA cables for communicating to the leds just cuz I can (fun fact vga cables only use 7/15 pins). Heh. Not too uncommon. Ever hear of 'dark fibers'? <"Why choose just one, when we can have 9 more for ten-times the price!?" >I gotta double-check the pin count but I think I could get away with having an arduino uno in Carry instead of a Mega. Anything to save mass/power-consumption/volume/cost (roughly in that order) seems good in the nominal case, IMO. >I also got a handheld wireless mouse with a gyro sensor in it for Carry. Won't use the gyro sensor for much but it has keyboard arrowkeys/pageup/pagedown/home/backspace equivalent so it will be enough to remote control Carry and hide in a pocket. Will probably do the final control mapping and power tests tomorrow. I love those space mice. I hope it works out for you. Cheers, Mechnomancer. :^)

>>38551 >Shielded twisted pairs are great for resisting EM interference. This. I'm hoping we can get away w/o the cladding on short runs, but we'll have to test this out in the realworld, in situ.

>>38553 >"Why choose just one, when we can have 9 more for ten-times the price!?" I meant the cables only have have wires connecting 7 of the 15 pins. Half of the pins on each end have no continuity between them. I didn't realize I already had an arduino uno in Carry, gonna do her tests after posting here, because I spend my morning getting a multi-board blinka test running (picrel) for mechduino. The code could probably be more streamlined but at least I find it pretty clear to use. Since communication with the boards is sent as a 2 lists of pin states (list of pins to set to 0, ,list of pins to set to 1) you have to clear the lists every time you begin a loop. I could probably make something happen in the pin set functions to automagically remove pins from one list of they appear in the other but honestly it isn't worth the hassle.

>>38570 Ahh, got it. I meant as much with my little (realworld) joke: telcos have been running trunks with dark-fibres for decades now (often along train track ROWs & similar). The costs of the long-a*rse fibre runs are still basically 1:1 (or 10:10, heh :D -- the amortization is present b/c the pull is is an expensive part of the whole proposition (which would basically be the same whether just 1 fibre, or 1'000 fibres). Make sense, Anon? :^) >gonna do her tests after posting here Neat! >but honestly it isn't worth the hassle. Ehh, just make it work for your needs, as-is would be my suggestion. For RW Foundations, however the goal is generality. Therefore, so-called 'immediate mode' is pretty much a given. Nice to see your progress, Mechnomancer, as usual. Cheers. :^)

Well nuts pyfirmata is fubar so I gotta re-do Carry's code with Mechduino. All well at least I know that Carry can Idle for about 420 minutes on a full charge.

Smol quick update: Got carry working via mechduino after finding out 2 of the USB ports in the raspi case case were dead. She has an unteathered runtime of approximately 150 minutes when consistently driving. Since I plan to use the same type of powersupply for Sploot, can expect that mechdog to have a roughly 40minute runtime unteathered, and as a Sploot/SPUD centaur perhaps a 30 minute runtime.

>>38572 >>38574 Nice to know realworld performance stats. Do you currently have any estimates as to the lifetime characteristics of the batteries themselves? Cheers, Mechnomancer. :^)

>>38575 >U got battery life estimates? Not really, but given the weight it is lead-acid battery and in my experience those are troopers. And according to the manual it can be easily replaced. I added the board id option in Mechduino so if a person needs to use mechduino as multiple boards they can easily be distinguished (board ids are set when you upload arduino code). Takes a few extra lines of code to automagically detect but I'll be sure to put that in the example. Mechduino is pretty much ready for a public release, just need to find the time to set it all up on github. Once I get my github lair set up I'll work on Pringle's durability testing and (eventual) release P: >=== -rm wordfilter spew -patch post

>>38666 LOL. Sorry, you've run-afoul of one of the /cow/ wordfilters here, Mechnomancer. :D I'll edit out the BS, and then please fill me in on the right words, and I'll patch that up afterwards, too.

>>38670 honestly idk what I put there originally lol, I guess just replace the "[...]" with "person needs to use mechduino"

>>38679 >honestly idk what I put there originally lol Lel'd. :D Done.

If Sploot can't handle the weight of SPUD, I'm totally gonna build a platform like this for SPUD to sit on and base the walking mechanism on the hexbug black widow (on second thought I might just build a massive spider anyway cuz my side-projects are just like that lol) : https://www.youtube.com/watch?v=JNSiiFQsh54

>>38692 Spider girl robowaifus!

>>38692 Spooderbros are cool yet spoopy. Any idea what you're gonna name it yet?

>>38694 Idea: Arachne

>>38774 Lol. >you know remember Arachnophobia. :D

While doing some R&D for SPUD's new body paneling I stumbled across a technique to create a humanoid form rather cheaply without the use of a 3d printer... probably about $30 and 2-3 hours assembly time (depending on your skill). I'll post more details once I get the SPUD version complete. It would be a good thing to release with Pringle: not requiring a 3d printer would make Pringle more accessible to a wider scope of Anons, making Pringle a true model T robowaifu :D

>>38947 That sounds awesome, Mechnomancer! Maybe you can do an in-depth detail on this in our Materials & Production bread : ( >>37774 )? Cheers. :^)

>>38947 Is it foam sheets?

While taking a break from perfecting my super duper ultra secret (at least until I post it lol) over 9000 awesome robowaifu body budget -no >>38951 greer not foam sheets unless you really really want to use em- I followed this guide: https://buyzero.de/blogs/news/deepseek-on-raspberry-pi-5-16gb-a-step-by-step-guide-to-local-llm-inference and got a somewhat decent LLM running on a raspberry pi 5 16gb. Depending on the model your results may vary: you will have to explore the ollama models and experiment to see which one is right for you. The attached is a sample response with some statistics and the "thinking" (aka the LLM having an internal monologue) with the deepseek model (default model in the article). I found a model kinda good at doing SPUD's persona without the Deepseek model's gigabrain energy but I forgot which one and am too ̶l̶a̶z̶y̶ busy to check right now. I'll try to swap out SPUD's main computer with the Pi 5 when I replace her eyelid rack (no blinking at the moment oh no!)

>>39206 Good timing lol Now I'm curious to see this new construction method.

>>39206 POTD Nice work, Anon. Really looking forward to your latest advances with dear SPUD. Cheers. :^)

>>39229 Thanks for the update, fren Mechnomancer. Godspeed.

@Mechomancer, you should make an Odysee page and/or Neocities website for your final releases. If it can fit, also use catbox for archival.

>>39234 oh dear looks like my less detailed post about the raspi LLM got restored, kinda puts a little redundancy in the thread. All well. I asked chatgpt how to use the python Ollama library to stream the LLM responses sentence by sentence with the goal to reduce the appearance of latency. To explain further, there will be a pause when the initial request is sent to the LLM and the TTS generates, then while the first sentence is being spoken -aka audio is playing- the raspi will be working on generating the text & audio for the second sentence (if that makes sense). This will (hopefully) eliminate freakishly long pauses if the LLM decides to give the user a paragraph and add the potential to cut off a response between sentences. Still have to actually implement the code but it seems to at least be possible. >>39310 I'll probably have 2 versions for Pringle: basic modular assistant and LLM then just plop the code it on github , because the SPUD line is for hospitality/greeting and not ACKSHUALLY a robowaifu... but I can't control what you decide to do with the code n stuff. ;) Tbh the entire release package probably wouldn't be all that big, maybe if there are some hires .stls but it would probably be all under 100mb.

>>39315 >oh dear looks like my less detailed post about the raspi LLM got restored, kinda puts a little redundancy in the thread. All well. I'll delete that if you want, Mechnomancer? >but it seems to at least be possible. That will be really good news if it's feasible to queue-up a 'train pattern' for responses like that. >Tbh the entire release package probably wouldn't be all that big, maybe if there are some hires .stls but it would probably be all under 100mb. Surprisingly smol to my thinking. GG. Cheers. :^)

>>39318 >I'll delete that if you want, Mechnomancer? Sure yeetus the f̶e̶e̶t̶u̶s̶ postus >Surprisingly smol to my thinking. I mean those are the files I'd have to host. Still would have to install python dependencies (20mb max I think) and the Ollama model (around 4 gigs) but you get those with pip and ollama and I'd provide instructions like article I linked :D

>>39320 Neat! >Ollama Can your arrangement work with llamacpp instead? It's lighter than ollama by all accounts. Plus it's dev community is pretty fiercely working on it atm. I expect it to improve further.

>>39335 >llamacpp Idk, install instructions look less straightforward. I'd have to try it out. This article looks handy tho: https://learn.arm.com/learning-paths/embedded-and-microcontrollers/llama-python-cpu/llama-python-chatbot/ Especially since it has instructions right on it for using llamacpp with python. I think a good idea that before SPUD properly shuts down, I feed the entire conversation (up to 16k tokens, of course) to the Deepseek thinky model to summarize the conversation and modify the base prompt accordingly, that way the character AI will change or "grow" as one talks with it. This would be similar to the function of human sleep. However I'm a while away from doing that as not only am I just barely getting my feet wet into maxxing the Raspberry Pi (found out how to overclock hooray!), but I've been busy with personal matters, as well as touching (and mowing) grass.

>>39387 Nice! I thought of something similar, and your AI summarization will solve the problem I realized of the prompt getting too large over time.

>>39387 >before SPUD properly shuts down, I feed the entire conversation (up to 16k tokens, of course) to the Deepseek thinky model to summarize the conversation and modify the base prompt accordingly That seems like a really good idea if feasible, Mechnomancer. Please keep us up to date on your progress. Thanks for the link resource BTW! Cheers. :^)

Robowaifu v 1.0 "Carry the Workshop Waifu" retrofit is 95% completed. Wiring completely re-done to utilize my Mechduino library. Had to replace a few of the motor drivers, too. Now just need to tweak the back of her skirt (not shown) and fix some issues with her main drive slipping occasionally. She doesn't have voice commands but that is something easily implemented in future. Maybe I'll try to deploy Pringle script on her? idk. She has a lot of empty space inside and -as I mentioned before- a battery pack (UPS) that can give about 7 hours idling time or 2 hours constant driving time. So I can probably have her test things like autonomous navigation and stuff. Gonna move on to some other non-waifu projects (unless you consider the 600lb mek a waifu lmao) before getting SPUD back operational.

>>39656 Nice!

It seems that after overclocking the pi, the Ollama deepseek LLM makes the pi freeze up when in thinking mode. But using a wizard uncensored model (I forget exactly which) conversationally (without thinking) has no such issues. I'll have to experiment to see if the wizard model can think. I'm also halfway done writing a terminal-based servo animation program (read/write servo positions to text file and have motion curves between the frames). Deepseek also seems to have latched on to John Wayne's football career and hallucinated a 2018 interview. Still, this is quite a lot of "thought" for such a little computer :)

>>39856 Is there any real benefit to thinking mode, especially on Deepseek? It seems like all it does is go "ummmm, let me see, yeah that could be it, yeah"

>>39860 Well it flexes on the midwits who think they're so smart but don't have an internal monologue lol I got ollama working through python with chat history working and also got Pipertts running. Just have to merge the two then I'll have some video footage ready (then work on getting the audio playing while the llm generates more text). I'll also probably implement Pipertts into Pringle and while I do that I suppose I'll get around to that long-procrastinated durability testing.

Implementing properly ordered TTS was simpler than I thought. Currently the program lets the program generate the response until a period or comma is detected in the token then passes that sentence (or sentence fragment) to the TTS engine (Piper). As you can see it doesn't work well for that initial run-on sentence. I would calculate by # of spaces (hence words) but sometimes the llm generates fragments of words in a token so words get split up, so I'd have to do a bit more string manipulation to do TTS by wordcount rather than punctuation. Works good enough for now and I'll fancy it up later.

>>39964 Great progress, Anon! I'm looking forward to seeing your further progress with this sub-project, Mechnomancer. Her voice sounds pretty good already, so yeah. Keep moving forward! Cheers, Anon. :^)

>>39965 Not a sub-project, this is gonna be SPUD's new brain :) I just need to a) integrate my mouth flap library and b) find a local object recognition library and we can start making youtube videos playing games together. "World's first real android vtuber" or some such. Also might get SPUD a 2B costume, cuz that will go over well.

>>39964 >>39966 Nice! I can't wait until it's completed. I think the 2B costume will look really nice on her.

>>39966 Oh, got it! >SPUD<=>2B That'll be ebin! DOOEET!! :DD

I knew I'd find a use for Mr Fishlips: a bench test of the lip synching. Unfortunately seems to have skipped a sentence but all well nobody is perfect. During the pauses Spud's face will assume a thoughtful expression so the user knows the text is being generated. If you listen closely you can probably hear my cat meeping for pets (don't worry he got them because he's a good boy). Need an adapter for the picam (also find an object recognition library because Mediapipe doesn't work on 64-bit raspberry pi), and integrate voice to text and the brain will be ready for installation... she will have a permanent buddy in the form of the Mars Pro Bluetooth speaker.

>>39975 POTD Neat! GG, Mechnomancer. Looks like the mouth is quite responsive, and well-synced with the voice's audio output. I'll be intredasted to see your efforts at tying this all together for dear SPUD. Cheers, Anon. :^)

>>39976 hehe I'm doing a lot of bench tests before putting this new brain in SPUD. The pi5 was expensive and I don't want to accidentally burn out another pi again. Pro tip: you cannot connect a Pi and a powersource for your servoboards from the same battery via dc power converters (connecting the grounds across the converters). There will be an electrical short. Carry proves that it is possible with AC power converters: AC to DC converters use a transformer so there is no actual physical connection between the two powersources. I got a "thinking" indicator now on the benchtest that consists just of a servo: at a position of 500 when not thinking, and at 2500 when thinking. Not fancy enough to warrant a video but will be a placeholder for thinking expressions.

>>39978 Ouch! We need some kind of "electronics class" here on /robowaifu/ . At least moar links in our RWUNI bread or something. I'm considering picking the Embedded Programming thred back up from Anon, since he's been long-absent now (cf. >>367 ). Great idea about the 'thinking expression'. This might help ease the experience of having response delays, for non-tech'y normals. --- Regardless, I'm glad that electrical lesson is behind you and you're pressing on Anon. Forward.

>>39981 When providing an external powersource for servos (via a breakout board or inside the board itself) the grounds of the pi and the external powersource are supposed to be connected, that way there is a complete circuit. I was doing what the experts say you're supposed to do, and it cost me a pi (I managed to get the latest copies of the programs off there before it completely burned out tho). tRuSt tHe eXpErTs bRo! SPUD's 2b outfit arrived today along with some bits that should make installing the brain easier. I suppose I'll have to figure out how to give SPUD a 2b level bum and boobles lol.

>>39986 >tRuSt tHe eXpErTs bRo! Heh. It'll be intredasting to see your system as a whole. >SPUD's 2b outfit arrived today along with some bits that should make installing the brain easier. I suppose I'll have to figure out how to give SPUD a 2b level bum and boobles lol. I recently saw some "biodegradable peanuts" (foam pellets) and was thinking of your robot squish quotient. Very lightweight & poofy, but probably not too lumpy.

I've recently been experimenting with creating motor encoders. If I can control 2000lb winches with precision, it would certainly open up more options for smaller, robowaifu motors (like those linear actuators I was hoping to put in SPUD's knees last year). Its simply gutting a servo -except for the potentiometer- and connecting it to an Analog to Digital Converter (currently an arduino mega but there are some smaller I2C boards available). Use code to juggle variables and you got yourself a closed-loop motor control system. Unfortunately sg-90s don't work really well because their plastic gears tend to get stripped so I've been gutting larger servos that have metal gearboxes. Maybe if I tried metal-geared sg90s. I never did actually check if the sg90's pot value changed though so it might just be me doing a dumb.

>>40010 Lol, that just looks cool for some reason Anon. :D I'm sure you can figure this out, Mechnomancer. If this goal is in your budget of time & other resources then do it! Cheers. :^)

>>40013 >Lol, that just looks cool for some reason Anon. Of course it does, that is the prototype for the worlds first open-source mech joint ;) And since that has been around since (way) before Carry, version 2.0 will be to the current one what SPUD is to Carry. Most of my non-waifu projects are related to each other since they all use raspberry pi & python n stuff. It's really just a difference in scale (if I can get my powerarmor project walking I can scale down the mechanism for bipedal walking eg walking robowaifu). I'm thinking maybe just sewing together some padding and putting foam sheets over it to make SPUD's lovely lumps not so lumpy. I kinda half-assed it last time ^-^;

Wig arrived, looks good for 5 seconds of styling. Once I get around to sewing together some assets I'll show how she looks in the dress.

>>40072 >Of course it does, that is the prototype for the worlds first open-source mech joint Based. Also glad you're using RPi, Anon. I'm sure there are even better alternatives out there, but having a standard board for us here to work from is very helpful. I just got a cool new RPi5 electronics training system. >>40078 Naicu! Looking forward to dear SPUD's transformation, Mechnomancer! Cheers. :^)

>>40079 >Looking forward to dear SPUD's transformation POOF! Did a test fit of the outfit to see what was lacking. Had to temporarily remove her head because the Chobit ears wouldn't fit through the neck hole. Hips and waist seem to work out ok. Skirt length means no absolute territory (sadge) and the lack of chesticles is apparent. The 2-b blindfold does mean you don't have to worry about an uncanny eye mechanism. Something to consider for other robowaifu builders. She also has many rough 3d printed edges on her arms that I gotta sand down P:

>>40089 POTD You're really coming into focus, SPUD!! >the lack of chesticles is apparent. Lel'd :D >The 2-b blindfold does mean you don't have to worry about an uncanny eye mechanism. Something to consider for other robowaifu builders. Yeah, I'd thought about that. For Anons in particular (who are already very-likely to know about 2B), its a great "KISS" hack. Cheers, Anon. :^)

>>40089 Cute

I love that SPUD is progressing! >>39975 I agree with Chobitsu, the thinking expression is genius. >>39986 LMAO >>40078 >>40089 Lookin' cute!

>>40089 Agreed about the blindfold. I thought of something similar for sex-doll/"realistic" type robowaifus, but with futuristic sunglasses instead >>37279

I ordered the wrong size servos (left, I needed them in the size to the right), but much to my surprise these might be good for articulating bipedal robot legs in future. Would need 12 of 'em tho so that would be nearly $500 lol. Still gotta get around to putting the bench test in SPUDs noggin'... all the experimenting will probably have to wait until my exhibit season is over (beginning of November).

>>40272 > but much to my surprise these might be good for articulating bipedal robot legs in future. Would need 12 of 'em tho so that would be nearly $500 lol. I am super intredasted in this outcome if you can manage it, fren Mechnomancer! Any projections yet what kind of load-bearing capacity (say, above the hips) such a system might achieve? Cheers. :^)

>>40272 Servos are no good for robot legs meet me at the motor thread.

Tried putting SPUD's bodysuit on without padding for the lulz. Penelope the kitten has conducted her inspection agrees that it definitely needs padding between her robit bones and skin.

>>40528 She needs to eat a burger!

>>40528 Starting to look hot. Imagine it with silicon skin dayum.

>>40528 MOAR LASAGNA FOR DEAR SPUD! :D

Did an exhibit of my projects at a local fair recently, I would occasionally take Carry into the crowd and people could talk to SPUD: she responded to pre-programmed questions and respond with her onboard LLM if she didn't recognize the question leading to some rather silly interactions. I had fun asking the crowd for characters to ask SPUD to identify. Someone asked SPUD if she would be his girlfriend and she turned him down in a rather amusing robot-y way. She said "the question 'would you be my girlfriend' is a phrase used where a man is romantically interested in a woman" (I told the model to be a helpful assistant but it can do personalities as well if you prompt it right, Ollama using a wizard 2.7b uncensored if I remember right) I learned the following: 1) Folks really like SPUD 2) Folks expected Carry to talk 3) Folks wondered if SPUD could walk. 4) Some folks refused to read instructions and were confused/upset when SPUD wouldn't respond. 5) Kids like pressing big buttons (good thing I used prefab heavily durable ones!) 6) Never trust the current rating on a chinese motor controller. 7) "Clanker" has entered the youths vocabulary as a slang, which is impressive as my region is usually like 10 years behind socially. So I'll be doing the following from least to most complex: 1) A dynamically changing screen for SPUD. A cartoon of her listening, not listening, speaking and thinking to indicate visually what the robot is doing. 2) A deployment of Pringle onto Carry modified for only the eyes. 3) Repurposing the BUD walking mechanism into a bipedal leg design. Similar to an old clawfoot toy walking mechanism (pic rel), but instead I'll have some asmc-04bs in the ankles/hips to swing SPUD's mass from side to side. Currently working on a big version (not robowaifu related) I'll scale down if it works out well.

>>41014 POTD <---> Great event report, Mechnomancer ! Its quite encouraging to see the positive response dear SPUD (& Co.) received with the public. >muh_waifu >clanker Lel'd. The kids are gonna be alright! :D Looking forward to your new improvements, Anon. Please keep us all up to date here. Cheers. :^)

>>41014 Astounding! It's really cool to see robowaifus out in the wild. I'm glad to hear the public loved it. The fact that even one person asked her out makes me hopeful! Those updates sound really good! >7) "Clanker" has entered the youths vocabulary as a slang, which is impressive as my region is usually like 10 years behind socially. I feel like slurs for robots just make them more real. I will say, even though I love robots, the robot discrimination memes are really funny, and I do sometimes have anti-clanker sentiment when I encounter or see an automated system that is from my enemies, or simply makes my life harder. https://youtube.com/shorts/yxPxNWtui7c?si=3uOQYaoXH00qTp0v "Never ask a human supremacist the model of his girlfriend"

First draft of the GUI for SPUD courtesy of Chatgpt (with a few initial edits by me to maintain consistency across images). Pretty sure you can tell what each pose does, but I'll add text describing each pose and what SPUD "hears". No idea why GPT-chan decided to give SPUD elf ears when I specified "Chobit ears" but if I had to guess nobody has introduced chatgpt to images of Persocoms. I'll have to shoop on some chobit ears and remove the background. Because of the nature of AI image generation there is a lot of noise in the picture so you can't really use a magic wand tool and have to pretty much cut it out by hand unless I really blur the image and magic wand it, idk.

>>41122 Nice! Looks really cute

>>41122 Very cute!

>>41122 POTD This is off to a great start. I sense dear SPUD is going to be very-popular with time. Cheers Anon. :^)

>>41122 >No idea why GPT-chan decided to give SPUD elf ears when I specified "Chobit ears" but if I had to guess nobody has introduced chatgpt to images of Persocoms. If the model doesn't have chobits in it, it will make something up.

Mech anon. While your robot is mechanically impressive you might want to be a little more delicate with it than your mechs. Ik ik working with silicon SUCKS. But it’s the difference between something thats cool and doll forum users spamming your inbox.

>>41156 Nice model. Moar.

>>41156 I have once again been teaching chatgpt things (and fed your pic to the gptbeast lol). Im surprised nobody has taught gpt-chan about the appearance of chobit ears. All well. I can just shoop GPTs ear rendering onto the other pics easy peasy. SPUD is gonna end up kinda like your pic: squishy torso/thighs (eg foam & fabric covered) with mechanical arms/shins. I once sewed a complete military uniform shirt for a Hakke Andre cosplay so I got some experience there (sadly no Sono Bisque Doll schenannigans). Working on an off-SPUD prototype to work out all the quirks with padding so I can have a nice display model for dear SPUD and keep SPUD in display-able condition in the meantime. Will probably re-work some of her arm wiring so when I dress her in costumes I can just remove her arms: they're a pain to wiggle thru sleeves. >>41138 One of the pre-programmed voice commands I gave SPUD was related to asking for a weather forecast. Ask for anything weather related and SPUD would respond with "Do I look like a weatherman?" People loved the sass. I'll see if I can get the local AI model to respond in a sassy manner as well.

>>41182 >People loved the sass. That's a good sign, Mechnomancer. >...Will probably re-work some of her arm wiring so when I dress her in costumes I can just remove her arms: they're a pain to wiggle thru sleeves. Totes makes sense. Good thinking, Anon. >chobit/chatgpt adventures pic Lel'd. It can't seem to get the idea straight that these are supposed to be robotic, technical, non-living ears. Maybe instruct it that this is a plastic shell that can 'clamshell' open?

>>41182 >give it an example >still can't do it WEW, here take this.

Got SPUD a new outfit in the Halloween section. Can still tell a bit that she has no padding under there. Temporarily removing her arms and head make it easier to get outfits on because those bits don't exactly have human proportions. She looks more animu now, at least. Now to re-wire and re-callibrate the arms servos.

>>41639 Naicu! >in the Halloween section. Good thinking. I remember Anons discussing that idea here before. Glad to see it works. I hope it's inexpensive (relatively)? >She looks more animu now, at least. Sailor power! :D >Now to re-wire and re-callibrate the arms servos. Please keep us here up to date with your progress for dear SPUD, Mechnomancer! Cheers. :^)

>>41640 >I hope it's inexpensive (relatively)? Outfit cost $25. Half the price of 1 of SPUD's 4 shoulder servos. I realized why the outfit looks so weird: no boobles! So I put back on SPUD's magnetic boobles and she looks much better. Even if I don't get her arm servos re-wired/calibrated she's still functional enough for display: she is all contained in her noggin atm except for a USB-C powercord and USB extension for the microphone. Maybe I'll wire up the toe servos lol.

>>41645 Very cute

>>41647 >Very cute Oh really? lol (plz excuse the poor lighting)

Is there a way you could make her smoke? I want to smoke kush in front of cops with my waifu just as Tay would have wanted.

>>41645 >Outfit cost $25. Great! That's around what I figured. Take good care of it, these cheap costumes are typically fragile. I presume you sew (what with all the amazing things else you've done!) :^) >no boobles! THIS. Gynoids need a good pair of booba! :D That does look a lot better. I'm assuming you don't have the special padding suit on underneath? Good that you're able to rm her arms & head easily. >Maybe I'll wire up the toe servos lol. DOOEET!!

>>41639 >>41640 >>41645 >>41651 Very cute! I love her new outfit. It's really great seeing SPUD get developed over time. >Good thinking. I remember Anons discussing that idea here before. Glad to see it works. I hope it's inexpensive (relatively)? Galatea's outfit is from a cosplay maid outfit

@Mechnomancer good job on /g/ (salutes)

Just a quick update: got image recognition and object detection running on SPUD that feeds the results in a friendly format to the LLM. No idea how the LLM will react, tho.

>>41730 POTD Excellent advance, Mechnomancer! Looking forward to seeing where this goes with integration of an LLM. Cheers. :^)

>>41730 Nice!

>>41730 Could this solve the symbol grounding problem?

>>41758 >symbol grounding problem Silly philosophy IMO. :D But yeah, if you want to hop onto that merry-go-round, then I'd say that no, this doesn't in the least solve this """problem""". All those textual tokens Mechnomancer's system is spouting out are -- you guessed it -- symbols! And the digital signals inside the C++ engine code of OpenCV? Symbols. And the digital, visual lightwaves impinging themselves onto the CCD die inside the camera itself? Symbols. >tl;dr >"Very clever young man! But its symbols. Symbols all the way down!!" <---> And that question is far more about 'philosophy of reality' IMHO, than it is what the CS/AI guys try to spin it as. God defines reality. He spoke this one into existence, and one day he will remove the Word of his power, and all this will vanish in fervent heat. What then!? :^)

>>41759 >"Very clever young man! But its symbols. Symbols all the way down!!" In God's thumbprints there are mysteries

>>41759 https://en.m.wikipedia.org/wiki/Synesthesia There is a reason they are called feeling.

>>41760 >>41761 Heh, yeah I'd say you yourself have some really engrossing insights in this domain of "signal symbologies", Mr. Cyborg! :D <---> Cheers, Anons.

>>41761 >Synesthesia Not as much fun as you'd think.

>>41765 I have auditory tactile synesthesia. It is both a gift and a curse.

>>41765 I personally think it's kinda one of those mixed blessings. Most things are, you know. :^)

>>41767 I do have some of the more usual ones, such as a taste being a color (tomatos taste green btw), numbers having personality (the number 2 is a snooty little shit). But having synesthesia with human microexpressions and body language can be trippy.

>>41795 >the number 2 is a snooty little shit It's funny, I have a similar thing with math problems. I agree with the guy in the pic, 8 x 7 = 56 really does have a football/military kid vibe. 9's time tables feel really edgy and high tech. 4 gives me classic Ivy League programmer vibes, the type to sit in a chair by the fireplace and smoke a pipe. Probably since it's used so much in artificial construction.

>>41761 >>41765 >Synesthesia I don't experience synesthesia myself, but for some reason about 20 years ago I thought I had it, because inexplicably, whenever I played the original Zelda on an emulator there was a strong musky shit-like smell that went away immediately whenever I wasn't looking at the screen. It's weird trying to explain that I don't normally have synesthesia, but playing Zelda 1 smells vaguely like brown. And now I can't help but associate synesthesia with Kanye West / Tame Impala: https://www.youtube.com/watch?v=zKWlEej2j5Q

>>41812 Everyone has it to some extent. Go look up Allen Snyder.

Printed off a new face for SPUD: bigger eyes and upgraded the mouth mechanism. Mouth is just a tab that sticks out like a toungue, but flush against the face with a mouth texture on it. She can now look more unhinged or owo, depending on pose. Had to re-glue 3dprinded bits of the eyelid rack so I might have to wait a few days before callibrating the servos again. Still have to glue on her giant eyebrows, too.

>>41841 A Cute! In your 2nd pic-related, I see the mouth in two different positions, but I'm unable to detect the seam for the nutcracker chin assembly to move up and down. Is this two different prints? Regardless, great to see you making progress with dear SPUD, Mechnomancer! Please continue to keep us all up to date. Cheers. :^)

>>41842 >I see the mouth in two different positions, but I'm unable to detect the seam for the nutcracker chin assembly to move up and down. Is this two different prints? Face is a single print. The mouth graphic is a separate little panel that slides out of a slit along the mouth line (and should always be poking thru slightly). No nutcracker seam required. SPUD is giving off Furby energy in the pic lol

>>41841 Truly amazed at how far you've come. She's looking cuter than ever! Using aspects of animation is paying off heaps. It's amazing what sliding a few elements around each other can do.

>>41841 This looks unreal. You were able to have a 2D character stay 2D, yet also be 3D. Amazing! >>41846 Five Nights at Mechnomancer's

>>41855 >It's amazing what sliding a few elements around each other can do. Eyelid has been attached. Now the smug levels are off the charts. Unfortunately the rack isn't meshing with the servo gear and I've misplaced the prints of new ones, so I'll have to manually pose the eyelids for now. >>41856 > You were able to have a 2D character stay 2D, yet also be 3D. Why have realism when you can have better than realism? How about a̶n̶ ̶e̶l̶e̶p̶h̶a̶n̶t̶ ̶w̶i̶t̶h̶ ̶b̶l̶u̶e̶ ̶e̶y̶e̶s̶ waifu-ism?

>>41846 >>41861 Ahh, now I understand! Thanks, Anon. BTW, @GreerTech is right: this is a great solution to the problem of IRL facial animation. Simple, yet effective & cute. I'd call that elegant! Cheers, Mechnomancer. :^) <---> Karakuri I'd recommend to you and other'nons here getting one of these papercraft toy books (I have the one listed; its high-quality cardstock paper cutouts inside). This is an ancient tradition of making child's toys from paper, and I feel it can inform some of our efforts here if we give it a chance. Super-inexpensive way to do things. * Cheers. :^) https://takemy.money/mechanical-paper-animal-toys-from-japan --- * And ofc, cf. our own Papercraft Waifu thread! :D ( >>271 )

SPUD's face is more or less calibrated, I just need to adjust the mouth panel as it is fully retracted, but still sticking out giving her a poggy/soy face. For ease of use I'm just using gorilla tape to hold her face on lol. And as usual mouth servo sounds are amplified due to phone audio silliness.

>>41883 Very cute

>>41883 Nice! Could the shaking be lessened?

>>41883 Naicu! Very responsive reactions. I forget, are you accounting for speech/mouth synchronizations yet, Anon?

>>41888 >robo-parkinsons Major reason for the shakes is the mouth linkage hitting the eye panel (picrel). I'll have to either a) move the mouth panel down so the mouth linkage doesn't have to go as high or b: move the entire face down so the mouth linkage doesn't have to go as high. Each one is just as annoying as the other. >>41894 >speech/mouth synchronizations yet, Anon? yeah, I was just letting the lip synch service run the last "simon says" she did. I forgot to charge her bluetooth speaker fren so no audio. It's basic mouth flaps based on the amplitude of the .wav file. I might try to smooth out the jaw motion a bit. I couldn't figure out asynchronous code very well so I just run 2 python scripts (aka separate processes) at the same time in different terminal windows (or 1 in thonny lol): 1 for the lip synching and 1 for the LLM/voice commands.

>>41900 >Each one is just as annoying as the other. What about changing the linkage itself? >>41900 >I might try to smooth out the jaw motion a bit. Looking forward, as usual. :^) >I couldn't figure out asynchronous code very well so I just run 2 python scripts C++ has numerous solutions, but I'm not too sure about Python. Does it support even just multithreading rn? Regardless, great progress! Keep going, Mechnomancer. Cheers. :^)

>>41901 >What about changing the linkage itself? There isn't a lot of room behind the face for additional bits (picrel), plus no new bits my printer is clogged and I have more exhibitions to get ready for in the upcoming weeks. Just wanna get SPUD back operational. Might just readjust the mouthpanel or add more onto the eyepanel so it slides over the mouthlinkage instead of colliding. >Python multithrooding? Theoretically, yes. In various ways that are different for nerdy technical ACKSHUALLY reasons. But for unknown reasons some libraries literally won't work when multi-threading (or subprocesses or whatever) in the same script with other libraries for some magical juu juu technical reason. Will probably get around to setting up code to automagically start/stop other python scripts program thingies.

>>41902 Ahh, understood now. Well I hope you get it all sorted before your upcoming exhibitions. Regardless, I think dear SPUD will be a hit for you, whether or no. >Will probably get around to setting up code to automagically start/stop other python scripts program thingies. That might work. Good luck, Anon! Cheers. :^)

SPUD explains some of the things for me. Have 2 image recognition libraries running: 1 for objects, one for general environments. I have to do a few adjustments to make, such as her eyebrows wriggling when she talks and (eventually) some eyeball adjustment, but she's functional and looking better than she did :)

>>42014 POTD Very exciting to see this part working more smoothly, Mechnomancer. Cheers. :^) FORWARD!

>>42014 Nice! It's really cool to see the near completed prototype. It's definitely good enough for promotion, that's for sure! She is right, robowaifus are here to stay!

Finally got around to recording a vid of the tootsie action.

>>42218 Heh, cute! >that clack Can you find a way to bumper them so kids don't have the full "SPUD Scissortoes of Death!" experience? Might make them a little nervous being down close where they are and all. Cheers, Mechnomancer. GG! :^)

>>42219 >"SPUD Scissortoes of Death!" Funny enough that was never an issue. Kids saw her reacting to me saying "toes" and they ran right over to try to get her to do it :D

>>42225 Oh that's good then! :^)

>>42218 Super cute

>>42218 So you suppose harpy girls would be easier to engineer than standard human feet?

>>42218 We have robowaifu feet videos before GTA 6 >>42230 "I used the harpies to destroy the harpies"

>>42234 >robowaifu feet videos Kek A demo of SPUD's gui. Because it runs asynchronously it slows the llm down to a crawl but at least the preprogrammed functions are in real-time. I'll try to integrate it into the main program and make it toggle-able. Also have a reason to redo spuds face again (mostly fixing the eyes). She did a bit of a faceplant during setup. Runs fine tho.

>>42234 KEK >>42239 That's actually really cute. Great work on the GUI, keep it simplistic for this environment! The timings seem a bit off? I'm sure you can solve the synchrony & compute resource-allocation issues, Mechnomancer. My own plan is to have a smol mesh of 4 SBCs onboard the robowaifu to distribute compute loads. >faceplant Ahh. I noticed her eyebrows/lids were a little off before. I hope nothing structural needs replacement. Regardless, dear SPUD is coming right along! Nice work Anon, keep it up. Cheers. :^)

>>42241 >The timings seem a bit off? Yeah, I threw it together in less than an hour. I'll solve the synchrony issue by only having the image window be updated after the AI does its shenanigans. I talked with a puppet maker who was taught by Tom McLaughlin (of Dark Crystal/Jim Henson fame) and listened to his panel. He does traditional cloth work (I wish I got a pic of his "Beast" for a children's production of Beauty and the Beast) and works with silicone by creating a foam shell (furniture or eva foam) then spreading/smoothing silicone (aka bathroom caulking) over it. It has given me some ideas how to do a "rubber" face that would be easy and (hopefully) not creepy. Of course I'd have to get my 3d printer back running again so I could make the servo frame for it. In the meantime I could probably do some tests to try adding certain curves to SPUD's 2d cosplay.

>>42252 Ahh, makes sense. I hope it turns out being just that simple! :^) >It has given me some ideas how to do a "rubber" face that would be easy and (hopefully) not creepy. Neat! Good luck with this effort Mechnomancer. Looking forward to seeing the results. Cheers. :^)

I've been working on a closed-loop motor control system (pic rel). An arduino acts as an analog reader sending data on the serial bus (with a servo breakout board acting as a breakout board for motor encoders aka potentiometers), while a MCP23017 (red glowing jellybean) sends out digital signals via I2C which get amplified by the ULN2003 (purple guy). Arduino isn't doing digital outputs because I discovered with other projects it can have power issues if you have too many digital outputs, and I don't have I2C analog readers because they didn't sample very fast (like 2 samples per second, could be user error but why bother when I already have something that works?) So is it SPUD-related? Not really. Or at least, not immediately. This allows the raspi to control motors via the MCP2307 (sending digital outputs to a separate motor controller) and read real joint position and act accordingly. This opens the doors for controlling many other types of motors, from smol hobby motors to 3500lb winches to screw-drive linear actuators, which is good because screw-drive linear actuators they only use power when moving. They tend to move slow but can easily be pushed beyond their voltage rating. So, maybe SPUD will have linear-actuator-based legs. Or I might just plop her on a big reciprocating spooder base. https://www.youtube.com/watch?v=fTtXNjmahzE

>>42385 THIS LOOKS AMAZING. I'm really glad to see your research in this area, Mechnomancer. If we can devise sophisticated motor control schemas using cheap COTS parts that will strongly solidify these efforts as every'non DIY projects. I hope you in fact create linear actuators for dear SPUD'S legs. We need more research in this area tbh. Looking forward to your progress, Anon! Cheers. :^)

You should make a github

>>42424 >github Eventually, I only wanna release properly documented stuff cuz I've encountered many a repository that isn't properly documented D:< I've gotten better at doing documentation during development (makes it easier to find & fix stuff) so that's more of a possibility. I also discovered a faster way to do graphics on the raspberry pi, so that means I'll be re-building Pringle to be even more optimized. Among faster render times I plan to put dependency installation right in the code so it is just run and done with a few other features.

>>42455 >I also discovered a faster way to do graphics on the raspberry pi, so that means I'll be re-building Pringle to be even more optimized. Among faster render times I plan to put dependency installation right in the code so it is just run and done with a few other features. Excellent! Looking forward to this, Mechnomancer.

A faster way of rendering graphics for raspberry pi is using Pygame. So I've been working on an even more basic SPUD PR model: it simply takes expressions from a sprite sheet via keywords. No lipsynching makes it easier to work with. I figure something simple and lightweight would be good to add to any project if you decide it should have a face. Could probably also use with AI if you scan the AI response for the keywords. Features: - Custom sprite size (must be square tho) - fullscreen and scales up to your monitor resolution - keywords determined via external txt file (left to right) - gives a warning if your spritesheet isn't perfectly proportioned - manual input to select faces (won't crash if you improperly reference one) Things I need to add before release: - dropbox.txt for expressions instead of an input prompt - setting custom sprite size without going into the code (another external .txt)

>>42942 Excellent! There's a reason vidya settled around this paradigm: fast, efficient, and easily-reconfigured. Nice work, Mechnomancer. BTW, I'll presume this is primarily for dear Pringle instead of dear SPUD?

>>42945 Ah yes. It is indeed for Pringle. Forgot to mention that. I got the idea today and threw it together in like an hour. Also got in a shipment of materials to make some body covering for SPUD and could possibly be repurposed into a minimum viable waifu. But I got some outdoor things to do before I get snowed in for real -got a blizzard and it all melted, heh- and focus all my energies on SPUDliness. For the custom sprite size I might just whip up a configuration file protocol for python that looks for things like "sprite_size = 52" in any order in the txt file, and if a config isn't found uses the defaults in the script and gives a console message to the user. It would make modularity easier to implement in future.

>>42952 Excellent. Keep the stove hot! Cheers, Mechnomancer. :^)

>>42942 Nice! I like all the different faces, nice work!

>>42960 I yoinked them off an image search lol. Using pygame seems to run much faster for basic image manipulation, so hopefully this will serve as a good proof-of-concept for replacing SPUD's indicator graphics.

Pringle is shocked a status LED is shining through the 2nd curved OLED screen I have. I'm probably gonna make her a papercraft mecha musume helmet.

>>43058 Nice!

>>43058 >Pringle is shocked a status LED is shining through the 2nd curved OLED screen I have. <"It's a feature, not a bug!"' :D >I'm probably gonna make her a papercraft mecha musume helmet. <"No one cared who I was until I put on the mask." --- Very cool. This looks pretty sweet, Anon. I like where you're going with dear Pringle's new design motif. Please keep us all up to date on her progress! Cheers. :^)

>>43062 >Please keep us all up to date on her progress! Tada! Some slight alignment issues but that is a graphics problem not a code problem.

>>43068 VERY COOL!! That curved screen really gives some dimensionality to her face. Really looking forward to where you go with this, Mechnomancer. Cheers. :^)

Hastily gave pringle some ears so she looks a bit less gundam and more Samurai Pizza cat :D

>>43086 LOL. A cute! :D

>>43086 Y'all are really out here trying fuck mouse cosplay BMO instead of talking to any woman ever, smh

>>43090 Oh hi obvious troll. To answer your question, yes, and? @Chobitsu obvious troll

>>43090 TFW the cute college chicks oogling me during the numerous exhibitions of my robits. I must science before I procreate. I might make a medabot-size walking robit body for our Samurai Pizza Cat. Erm, Samurai Pizza Mouse. Depends how bored I get and how severely I get snowed in this year.

>>43093 >I might make a medabot-size walking robit body for our Samurai Pizza Cat. Neat! That's about the size I envisioned for the initial prototype of dear Sumomo-chan (a bit smol'r, actually... ~45cm or so). >Medarot Heh, haven't watched that in years. I'll be doing so a bit during the holidays. Cheers, Mechnomancer. :^)

I have an idea: make a bunch of reaction image faces Shocked, smug, happy, etc If you male those, I (and hopefully others) will use them online.

>>43192 >reaction images Yeah I've been doing that occasionally in other online communities lol Been mucking around with SPUD's code in my free time and: A) figured out how to segment the LLM's response into roughly 7 words to feed to the TTS. LLMs usually go by tokens and sometimes they contain a fraction of a word like so the phrase "I ate an apple!" might be the tokens "I a", "te an"," app","le!". A little tricky, mostly counting spaces and splitting tokens up. Just couldn't be bothered to figure it out until now. B) sequential speech. Before, SPUD would speak as the response is generated by the LLM so any backlog would be ignored. But now everything goes in a nice tidy list. C) image/object recognition AI via voice command. Apparently she sees what looks like a computer monitor in an environment that looks like a cockpit :D Theoretically, there should now be only a brief pause before SPUD goes into a nearly contiguous response-a very slight pause indicates a gap in the 7 word chunks but not noticeable unless you listen closely for it. I just can't record proof thereof because all my bluetooth speakers are out of battery ^_^; I also have an idea for the construction of a rubbery face (and perhaps even a body someday) using a combo of some techniques I learned from a puppetmaker at the last convention I exhibited at and my own ideas. But that will probably wait until the new year. And maybe a return to LCD eyes, I don't know. Have to experiment.

>>43243 Interesting! You're making good progress with conversational AI. It definitely has applications beyond SPUD

>>43243 WOOT!! This is exciting, Mechnomancer. If you don't mind, I'll look into this for the dear HoloWaifu project?

>>43260 Well, the optimizations consist of relatively simple variable juggling. So not to hard for someone to implement themselves in python (or in another programming language). So feel free. To go into detail: As each token is generated, check for a space character and count them. if the count is 7 and there is a space in the current token you split it along the space, attaching the first half to your completed token chunk and send that to tts, then you set the second to the variable where the freshly generated tokens are added. Updated lip synch program works by checking a text file for list of .wavs and keeps track of where it is in the list. After each file is played (which consist of playing the .wav file audibly then going thru all the wav file frames checking amplitude and moving the mouth accordingly) it goes down the list. The list is only reset if instead of a filename there is the keyword "fin", otherwise it will wait until another filename is added to the list. the file_list.txt would look like "llmresponse_0.wav|llmresponse_1.wav|llmresponse_2.wav|fin" Thankfully playing a .wav doesn't take up much processing power. Interestingly, if the LLM hasn't been used in a while (or first starting up) the first response can take a while. Probably just loading it in/out of ram but it adds a bit of character: "oh the robit is daydreaming lol". For object/image recognition I use a Ultralytics YOLO model, I forget which. https://www.ultralytics.com/ Next thing I might do is check out how fast I can get a pose-estimation model running. Would be cute to get SPUD to mimick my arm movements. Gifrel https://youtu.be/AAkfToU3nAc?t=185

>>43273 Thanks for the details, Mechnomancer! >token parsing This seems straightforward enough. >list of .vav files I must've missed how these are being selected for? >...checking amplitude and moving the mouth accordingly I'm presuming you have a hand-curated mapping of phonemes to visemes? >Thankfully playing a .wav doesn't take up much processing power. There's really no decoding required. .wav's are .bmp's of audio! :D >pose-estimation model running That is a very powerful capability that has uses across a wide array of robowaifu topics! Good luck, Anon. Cheers. :^)

>>43283 >[wav files]I must've missed how these are being selected for? The LLM program writes the name of the tts generated file to a txt file in the form of a list. The lip synch program reads from the .txt file and keeps track of which one it is on. if there is no proper .wav file (eg filename called "fin"... or maybe it is "end of line") it simply waits around until a proper file is written to the current slot >I'm presuming you have a hand-curated mapping of phonemes to visemes? No just a simple mouthflap: if the .wav is above a certain volume open the mouth, else close it. But it probably wouldn't be too hard to export the string and have the lipsynch program scan for them.

>>43286 >The LLM program writes the name of the tts generated file to a txt file in the form of a list. Ahh, got it. I suppose you specify that behavior within the prompts themselves? >No just a simple mouthflap Oh duh! I knew that. :P I've been thinking about full-blown animations recently. >But it probably wouldn't be too hard to export the string and have the lipsynch program scan for them. Yah, I think you're right. --- Anyway, excited to watch what you do this Winter for dears SPUD & Samurai Pizza Cat Pringle! Cheers, Mechnomancer. :^)

>>43290 >Ahh, got it. I suppose you specify that behavior within the prompts themselves? Nope. I'm using the ollama library for python, which means the LLM outputs to a a simple string. Pic rel. It's *that easy* to set up a python waifu. Sure its for one-shot responses but basic coding could get you a nice text-loop easy. (https://github.com/ollama/ollama-python) My code is more complex since I'm doing things like TTS, voice recognition,separate lip-synch processand pre-scripted responses but that is the general idea. SPUD's streamlined tts code was 99% working but I accidentally broke it last night. Fixed it today, tho. She now has the vocal cadence of William Shatner. XD I'll record a vid at some point. She knows about gundam, the founding fathers, tony stark (but not spooderman). Unfortunately her paperface hasn't done very well since she face-planted at that convention. Good excuse to look into that new face idea after Christmas. Funny enough it may involve our old friend Mr Fishlips.

>>43291 Oh cool! That does sound pretty easy. >She now has the vocal cadence of William Shatner. XD LMAO >"Scotty. I've. got. to. HEAR THIS!! Engines to full!" >Unfortunately her paperface hasn't done very well since she face-planted at that convention. Good excuse to look into that new face idea after Christmas. Oh that's right! Yes, probably good timing. >Funny enough it may involve our old friend Mr Fishlips. Somehow this has slipped my mind. :P --- Thanks for keeping us all up to date with your progresses, Mechnomancer! Cheers. :^)

>>43292 SPUD with the LLM responding sluggishly/sleepily (takes a while for the LLM to load into memory?) vs a bit more awake. Her face slid down her skull a bit. Either way gonna be looking into an even better one. I think the latency is pretty good for an itty bitty raspberry pi that isn't overclocked running an LLM and somewhat decent TTS (better than Espeak anyway).

>>43360 Neat! I'm glad that she's back together, and that you have an improved face in the works. >response latency While as a technologist, I certainly agree its good performance for the hardware (and in fact remarkable that it even works at all so well)...yet I hope we can figure out ways to improve the performance further still. Significantly-so. Adult laymen generally have little to no comprehension of the underlying complexities involved in such a feat, and are unlikely to display much patience. Not to mention children's impatience! :D While my own "target audience" is Anons (and therefore grown men) who are much more likely to both understand the problem of doing this -- and may in fact be nerds themselves. But even at that, I think we'd all like smooth-flowing TTS/STT/LLM integrations. >tl;dr THIS IS A BIG CHALLENGE! :^) --- You've done well here, Mechnomancer. I'm personally planning on looking into Gerganov's Whisper when it's time for me to tackle such an effort. * It's already focused on optimized performance on smol hardware. Additionally, given the yuge number of contributors that have stepped forward I don't doubt that wrappers for Python and several other languages likely exist for his entire swath of research work, including his spin of Whisper. --- * https://huggingface.co/ggerganov/whisper.cpp https://github.com/ggml-org/whisper.cpp https://ggerganov.com/

>>43376 >the bottleneck? The LLM is the main bottleneck. I have a few ideas to do some stuff like "ums" and "ahs" to fill the silence. So when SPUD is halfway thru generating a sentence she will go "um", "ah", "erm", etc. Also could do something similar while waiting for the text to initially be generated. Since the speech is sequential now I can do such things without worrying about overlapping/negating the text being generated.

>>43380 >The LLM is the main bottleneck. Yeah, kind of as-expected. I hope we can all have a general breakthrough in this area. Cheers, Anon. :^)

>>43405 I suspect further LLM optimization will come as they develop. After all, a few years ago nobody probably even imagined running an LLM on a raspberry pi! I'm also not using the smallest one I possibly can XD Meanwhile I tried to get SPUD to sing a Christmas song, but she was rather reluctant to. When I finally did get her to sing something there apparently is a good reason she doesn't like to sing: she is an absolute goblin. This showcases some of the "ums" and "ers" I put in while text is in the middle of generating. There are still some substantial pauses that could do with some filling via time-based deployments of "um" and "erm". But that would be at the mercy of the rate of token generation. Idk.

>>43409 A CUTE! >LLM pauses I'm sure we'll see improvements! Cheers, Mechnomancer.

While on Christmas "Vacation" I got some ideas n stuff. I am tempted to return to LCD screens, however I've had that recent discovery using graphic libraries -even high-performance ones like pygame- cause the LLM to slow to a crawl. So I have a big-brain solution (literally). Use 2 pis. The brain has 2 hemispheres, so why not SPUD? The "left" hemisphere (I am biased because I am right handed lol) will handle the speech detection, high-end vision recognition and LLM while the "right" will handle the lower-end functions such as displaying emotion, moving servos, etc. In biology the gap between the hemispheres is bridged by a structure called the corpus callosum. For SPUD, this would be the UART port on the raspberry pi. It's quite easy to send strings back and forth between 2 pis via python. However, I'd have to set up ANOTHER program to run alongside everything to put the strings into various .txt files. I should also experiment to see if there are any smaller models I could run. Sure, SPUD might end up even derpier but It would be nice for her to respond faster than a socially awkward sperg. After all if a bimbo is pretty it doesn't really matter what she says lol. Oh, I also stopped by a Tesla store since I heard they got Teslabots on display. I saw the thing and got idearhea. That's like having so many ideas you compulsively have to write them down (idea diarrhea). I don't have it very often but when I do it is awful cuz 99% of the time I'm away from pencil and paper. Got some up-close pics and chatted with the dudes behind the counter. Sure, they gave the schpeal about how Teslabots would be available in the next year and if I would buy one, so I pivoted to my DIY attitude and showed them some pics of my robo-family. Their eyes shot out of their sockets and suggested I apply to Tesla to work on the robot lmao. But I got an art degree so unless I really BS the resume... ¯\(ツ)/¯ A few things about Teslabutt here: A) The legs appear to only have 3 actuators installed: 2 ankles 1 knee, there is no thigh actuator! Maybe it was hidden really deep in the thigh or they just didn't install it for the demo model. Someone did leave a zip tie on one of the wrist actuators tho :D 2) It is completey static. Like no movement. Can't even talk to the thing. So I got one up on the Musk man :P Yellow) Pretty sure I have enough spare motors lying around to build my own teslabot-style legs. But I'm still in-progress when it comes to highspeed control of acme-screw linear actuators. Once I get that deployed I might give some teslabot legs a try. Would be a mix of them acme-screw actuators I love so much, the 80kg servos I mentioned back in August (>40272) and the ASMB-04s. Although I'll be mighty tempted to put in some foot sensors. Poor Teslabutt seems to be lacking them (no wires or cables going around his ankle balljoint). If I could pull it off I'd love to have SPUD walk into a Tesla store and say she wants a Teslabot as a Husbando :D

Chat GPT seems to be getting better at producing images. SPUDis looking delightfully animu. Just gotta work on making the reality match the images >:V

Starting to work on the new lcd eye-ed face based on a Miku Miku Dance model. Making some slight adjustments to make the lcd fit perfectly. You can see that it is still a work in progress (need to move the lcd slot over 6.5mm, new part is currently printing) and I'm only printing fractions of the eye module to save time and filament. Will be attempting to make a "rubber face" by using bits of cloth and silicone caulking (think paper mache, but caulking/cloth instead of newspaper/plaster). Instead of all the hardship of making a mold this additive process might be easier: can control the surface appearance. Also have some dye that I can try mixing into the silicone. I haven't yet finished the surface of the parts as I want to make sure everything is final. I already know I'll have to be re-printing the eye pieces at some point. No physical eyelids, but if I can get a "rubber face" working I could return to that at a later date. I suppose I could eventually do a whole bodysuit in a similar manner but I'll start with a face first and see if it goes well. If not, at least I'll have a mina/masiro style face for SPUD :)

>>43534 Very interesting, Mechnomancer. >...using bits of cloth and silicone caulking (think paper mache, but caulking/cloth instead of newspaper/plaster). Seems like I recall discussing this in our Skin thread (or maybe Materials) thread? I think this is a great idea if we can find a viable solution that's easy for Anons to reproduce locally. Godspeed, Anon. :^)

>>43494 POTD <---> >Use 2 pis. The brain has 2 hemispheres, so why not SPUD? This. I'm actually working towards having a smol Pi cluster of 4 of them. Better redundancy as well. I doubt it even needs to be stated here, but coordinating many realtime processes together remotely/concurrently is a complex domain of study still today. >After all if a bimbo is pretty it doesn't really matter what she says lol. Kek'd :D --- >Oh, I also stopped by a Tesla store Woot!! Thanks for the good pics, Anon. >when I do it is awful cuz 99% of the time I'm away from pencil and paper. My first boss taught me: >"A real businessman always has a pen with him." >Their eyes shot out of their sockets and suggested I apply to Tesla to work on the robot lmao. But I got an art degree so unless I really BS the resume... ¯\(ツ)/¯ DOOEET! I know personally they will at least pay you the decency of an actual reply (unlike many pozz'd silicon valley corpos). >A few things about Teslabutt here: You're probably already well-aware this is the previous model (probably explains why the shells are populating Tesla showrooms now). The newer one probably follows a similar design, would be my guesstimate however. (cf. https://trashchan.xyz/robowaifu/thread/26.html#1296 ; there's also a video of a pair of them dancing at a demo event with Elon here on the board in the past couple months or so. ) >So I got one up on the Musk man :P Hah! Based. :D >If I could pull it off I'd love to have SPUD walk into a Tesla store and say she wants a Teslabot as a Husbando :D LMAO --- Really looking forward to these new features for dear SPUD, Anon. Cheers. :^)

>>43508 A cute!

>>43555 >https://trashchan.xyz/robowaifu/thread/26.html#1296 As someone working with robits I can confirm (for what my opinion is worth) those pauses in the Teslabot interaction are the authentic experience: anyone trying to fake a robot wouldn't put in such pauses/errors because that wouldn't be eye-catching PR, so if there was 1 company I trusted to be honest with their robots it would be the Musk man. They really should make a screen face or something so you can know if the teslabot is thinking, what mode it is in, etc. In the video it wasn't moving because they were too close, they need a screen to read "please step back" or have the robot say so. Other robots have done this, like the RS Media has an lcd that can even play games & videos. If SPUD's eyes go well I'll probably have icons in the eyes as well as body language. The Teslabot nerds need to take the bots out more in public so they can get feedback. I know that whenever I exhibit publicly every year I do tweaks -even on site in between demos- because I wanna make the experience better. I really don't need pen and paper per se as I have a good visual memory (being stereoblind frees up that mental processing power for other things). I have all of SPUD's circuits memorized as well as the mek's circuits (before I gutted it for the public-use retrofit). Also threw together a rough pepakura template test for some more detailed animu-style hair. It doesn't hold shape very well because it needs a head underneath it to help give it form. I plan to make the final version out of foam sheets and use marker for cell-type shading. I just remembered deepseek 1.5b llm did some pretty good speed on the PI (faster than I could type and I think faster than the tts speak speed) when it was "thinking", so I might try using that as SPUD's LLM, without the "thinking" of course. Not exactly the most sane or knowledgeable but it is something that would respond quickly.

>>43409 Cute! >>43494 >Sure, they gave the schpeal about how Teslabots would be available in the next year and if I would buy one, so I pivoted to my DIY attitude and showed them some pics of my robo-family. Their eyes shot out of their sockets and suggested I apply to Tesla to work on the robot lmao. Fake robo-futurists when they see a real robofuturist >idearhea For that, you can use a notes app on your phone >But I got an art degree You do some damn good technical work for an artist. Also kudos to you for using AI art tools as an artist without having a luddite freakout about computers. >Would be a mix of them acme-screw actuators I love so much... t. Roadrunner >>43534 Looks good. I think the best option is to have multiple face designs for different preferences. >>43555 The cluster brain idea is similar to my brain design >>43558 The new face looks good and cute

>>43560 > notes app on your phone My fingers are too big to draw diagrams on my phone. I've been meaning to start designing a harness with several robotic arms to help me hold stuff while in the workshop or out and about. *glances at doc ock* >You do some damn good technical work for an artist Been making robits since I was a kid by cannibalizing rc cars, but officially I started out doing an engineering degree which was 99% solidworks bs. I switched to art because you can get away with calling just about anything art. Only 1 art professor liked me, and that's because his career was filming commercials and his tenure was his retirement - he knew what would actually make money in art. >using AI art tools as an artist without having a luddite freakout about computers. I see AI as a tool to supplement and elevate my art. I am old enough to remember the photoshop panic. Traditional media folks were going "hurr hurr digital art isn't real art hurr hurr" and freaking out about photoshopping celebrities without their clothes on. Decided to go with the Keep It Simple, Stupid method for the hair and just modified a sphere template. Gonna make it out of the craft foam then color in shadows/highlights with marker. Should look quite nice. Also just pic of a simple reciprocating leg mechanism and its parts. Folks claim it was invented by theo jansen but there was a craze in the 1860s-80s about steam-men pulling rickshaws (zadok dederick, steam king, et all). Pretty sure I've mentioned it before. Might make one for SPUD while developing the teslabot legs. Will cover up the training wheels (kinda) with some sort of mecha musume-style skirt or some fake legs like a centaur (building a SPUD centaur fell thru cuz I need the motors for other projects).

You must have put some money into your mech. So you might be open to the idea of say getting a pair if $300 robot actuators. Theres the whole building up leading up to it and theres the having them in your room. And youre far from a n00b hell you might be sn expert.

>>43572 >My fingers are too big to draw diagrams on my phone. I usually just describe what I thought in text, and seeing the quick caveman description usually is enough to jog my memory, for at least a few weeks. >Been making robits since I was a kid by cannibalizing rc cars, Hahaha me too >I see AI as a tool to supplement and elevate my art. Nice! >I am old enough to remember the photoshop panic. As a kid, I used to unquestionably absorb science news, and even had a subscription to Popular Science. For a kid/tween who was interested in science and tech, the late 2000s and early 2010s was heaven. This is why I laugh at "AGI in 5 months, I swear", because I've seen it before, especially with Nuclear Fusion. >Stupid method for the hair and just modified a sphere template. Gonna make it out of the craft foam then color in shadows/highlights with marker. Should look quite nice. Looks good! As the saying goes, if it's a stupid idea and it works, then it's not a stupid idea. >Also just pic of a simple reciprocating leg mechanism and its parts. Folks claim it was invented by theo jansen but there was a craze in the 1860s-80s about steam-men pulling rickshaws (zadok dederick, steam king, et all). Pretty sure I've mentioned it before. Might make one for SPUD while developing the teslabot legs. Will cover up the training wheels (kinda) with some sort of mecha musume-style skirt or some fake legs like a centaur (building a SPUD centaur fell thru cuz I need the motors for other projects). That's a nice design, but you will need to be able to pivot the legs to do a turn. >mecha musume (dooki doki doki doki doki doki doki doki) kimi no aiba ga **(ORE NO AIBA GA) zukyun dokyun hashirideshi (fufu) bakyun bukyun kakete yuku yo (fuwa fuwa) konna reesu wa hajimete (san ni ichi Fight!) zukyun dokyun mune ga nari (fufu) bakyun bukyun daisuki da yo (fuwa fuwa) kyou mo kanaderu hapi hapi daarin san ni ichi Go Fight upi upi hanii san ni ichi (uuu Fight!!) (Robomusume idea, including SPUD >>43573) (Reposted to fix errors and add more content)

>>43587 >$300 robot actuators Doesn't sound very affordable to me. For that price I could make at least half a dozen computer-controlled acme-screw linear actuators. My motor system consumes power while in motion (unitree actuators stall at 960 watts, my system would stall at 240 watts), mine is much stronger (unitree actuators have torque of 23 newton meters while mine can have over 1000 newton meters depending on configuration), and I have absolute control over my hardware (I use i2c and serial, simple and easy vs Unitree's RS-485 which is some ethernet communication protocol). As a cyberpunk I absolutely distrust companies, especially when the product they provide appears too good to be true (because it usually is). >>43588 >pivot the legs to do a turn I plan to have a servo on the linkage that connects the legs to the idler wheels (axis indicated by the bright purple cylinder in the crude render). >Robomusume I did see that. Had chatgpt do a render... now that Christmas season is over I probably should wrestle SPUD back into her Sailor uniform. For my own records (I did mention this in the virtual waifu thread) I'm also referencing Speecy's doll as some inspiration for an alternative method of locomotion if none of my plans work: a simple platform where SPUD is mounted on a stick and motors move her legs via cables in the base. Supposedly this method is patented, however using servos/bowden cables has been a staple of robotics for years. Even so maybe just non-weight bearing motors in the legs would make it easier than faffing around with cables and tension and whatnots. speecys.com/?p=967

>>43591 Well yes you say that but notice youre planning on using wheels…

>>43593 Yes I'll be using wheels for a Zadok dederik walking mechanism for spud until I develop the teslabot-style legs

Ok just a quick update: Finished coding basic emotive tts. I discovered Kitten TTS would be a good voice as it has multiple "voices" per model right out of the box (i'd have to make my own models with piper tts!). The "voice" is chosen via NRClex, which detects the emotional content of the string provided by the LLM. So (hopefully) if SPUD says something she is afraid of, she'll sound afraid. Or if she is angry/disgusted/excited, she will sound like that! The emotive is also applicable to the "simon says" protocols, so the pre-canned responses or asking her to mimic you will get a different quality of voice! The kitten tts voices are as follows: - unsure - angry - breathy (excited/fearful/surprised?) - excited/energetic I'll be trying to get some video once SPUD's proper bluetooth speaker is charged.

>>43608 POTD This sounds amazing, Mechnomancer! Godspeed.

>>43591 >For my own records (I did mention this in the virtual waifu thread) I'm also referencing Speecy's doll as some inspiration for an alternative method of locomotion if none of my plans work: a simple platform where SPUD is mounted on a stick and motors move her legs via cables in the base. I had been going in that direction with my own research into the CartWaifu work. While cool and potentially functional as well, having a pair of the opensource robotic claws wouldn't really fit the bill of a comfy robowaifu. So, fashion her to stand in front of the cart (supported by a boom from behind. the cart is plenty weighty enough with the big battery pack + actuated drive wheels + the steel cart itself [mine is from Costco, but is nearly the same design as the one @Kiwi posted from IKEA]). Much like your marionette example, moving all the major actuators back onto the 2nd shelf of the cart significantly reduces all the inertial moments (thrown weights) of the robo body itself. You can still do the claws as well back on the cart too. At that point it's kind of a fusion between Tachikoma and a robowaifu (much as we discussed over in the MaidCom threads).

>>43558 I agree about the screen accessory capability.

>>43609 Bad news: kitten TTS has problems rendering audio on the pi, eg random clipping. So looks like that is out the window... not even good enuff to film. I might see if chatgpt has any solutions for audio processing to give emotional intonation. Good news: found a good small LLM that does personality quite well: qwen2.5:1.5b. Token generation keeps up with piper tts. I might see how well it performs with a GUI and make a vidya, >>43612 >robowaifu with robo-hands picrel >>43613 >agree with screen t'was an innovation by mark tilden, after all. Granpappy of hobbyist robotics. A shame that RSMedia mods never took off. All well. I don't know how (or if) I wanna integrate a screen GUI into SPUD, maybe a handbag with the screen integrated or something lol.

>>43625 Dang. I wonder if another SBC might be up to the task? Kitten TTS sounded impressive. >qwen2.5:1.5b Good luck! I've heard of other Anons mentioning using it. >>43625 >picrel Naicu. Roboelmo is cute in a mecha kind of way! :D >by mark tilden, after all Interesting! I didn't make the connection before. :) >maybe a handbag with the screen integrated or something lol. I think the most straightforward way is probably best. Just have it as a tabletop display the kiddos can play with; dear SPUD herself can pick it up & hold it too.

Been experimenting with dual ILI9341 (smol LCDs). One of the wiring harnesses is a little hinky so some funky effects happen on the LCD. In order to get the maximum screen real estate out of them, one needs to be flipped upside down. So just show a different picture on each one, right? WRONG! After wrangling with Chatgpt turns out it was hallucinating the raspberry pi 4 can handle showing different images on multiple ILI9341s. It can't show different pics, at least without a complete driver re-write. Smaller screens like the ST7735 do not apparently have this problem because their drivers are not fubar. At least chatgpt admitted it was hallucinating when I pointed it out. Supposedly, the raspberry pi 5 has the option to assign multiple SPI busses in the boot.txt, so this would theoretically allow for different images on multiple ILI9341s. So looks like my options are a) abandoning the dual pi system and just using the pi 5, b) using 2 pi 5s (but a smaller one for the eyes) or c) (this is if gpt-chan is being delusional again) having 1 pi control each eye with a communication protocol. I still have yet to test the LLM running with some GUI stuff.

>>43692 For the record i was planning on using smoll lcd screens for the eyes. I can prove i made the order on january the 14th. Dont say i copied you.

>>43692 Neat! >multiple SPIs Even the RPi4 supports multiples. I'm not sure how many pins you have available in your configuration, but you can allocate them for SPI in your boot.txt as you indicated. * I'll presume your approach for the eyeball image control is simple animation strips as before, so the compute load should be negligibly low -- surely something doable for 2 eyes on a single Pi4? Good luck, Anon! >>43693 Good luck, Peteblank. Please stop acting like a kike here. No one cares when you did this or that. --- * Up to 6 SPI Master/Slave busses, with a tree topology. https://blog.stabel.family/raspberry-pi-4-multiple-spis-and-the-device-tree/ https://blog.stabel.family/raspberry-pi-4-device-tree/ https://www.raspberrypi.com/documentation/computers/configuration.html#change-the-default-pin-configuration

>>43693 You dont need a raspberrypi https://youtu.be/08JyjAYQXY4?si=WaY The raspberry pi is only if you want an underpowered llm or ai. For the speech i plan to make the llm local but the tts and stt on the cloud. They wont gather your personal data i think and that way is very high latency.

>>43697 On second thought there is a good tts thats new called kokoro. Im undecided.

>>43695 >pi 4s can do multiple spi Interesting, gpt-chan is probably hallucinating again. I'll look into this. I got a stock pi so I got the full 40pins... well minus the power and i2c pins :D it probably hallucinate because I was starting out trying to use the same bus, then asked about multi-bussing and pi5s. >>43693 >don't say I copied you Spud started out in 2022 using lcd screens :)

>>43699 you don't need a raspberry pi for the eyes look https://dronebotworkshop.com/gc9a01/ The problem is im already using a ground pin but maybe i can fit to into pin and power 3 things with an esp32 dev kit.

>>43700 hm no okay fine 2

>>43700 >https://dronebotworkshop.com/gc9a01/ Nice link, peteblank. Thanks!

>>43700 >smol screen >arduino Good luck getting multiple pngs and doing image manipulation on an arduino. >>43695 >RPi4 supports multiple SPIs Apparently while it *technically* does, the drivers are kinda fragile for something as data-dense as a LCD and never actually tested. One of the reasons the Pi5 was created was to fix this issue. After interrogating chatgpt, turns out the the main reason the ST7735 / ST7789 can do multiple displays is because the chip select is handled by the code (via raspi gpio) and not the kernel. The ILI9341 is old to the point where folks were mostly just using it for 1 display, and nobody has bothered making a new driver because folks were either upgrading to hdmi or the smaller ST model screens. Not relying on the kernel requires some tweaks. So I just asked in a new chat write an ILI9341 library to be like the ST7735/ST7789. I'll try deploying it in the next few days. If it works I'll set up a github and release the code (maybe a public release of something from me finally lol).

>>43711 Hmm. AFAICT, you don't actually even need a driver for SPI devices. At all. You simply roll your own algorithm according to the requirements of (in this case) the display device, and just use the low-level bitbanging across the SPI busses to bend them to your will! :D OTOH, this may represent more time & energy than you want to invest rn, so if you have an alternative solution in mind, then probably best to use that one. Good luck, Mechnomancer. Please keep us all up to date with your progress here. Cheers. :) --- >pic DON'T LET YOU'RE ARE HEAD A SPLODE https://yewtu.be/watch?v=R22zSrpeSA4

>>43713 >You simply roll your own algorithm according to the requirements of (in this case) the display device, and just use the low-level bitbanging across the SPI busses to bend them to your will! Here's a straightforward project related to bitbanging SPI in the context of low-power, wireless, joystick remote control of a little robo car (similar to the one I mentioned in our Holowaifu conversations) * : https://www.youtube.com/watch?v=lhGXAJj8rJw&list=PLWNDWPAClRVrqQOkoucEQNO4RjZCAbKzv&index=2 https://dronebotworkshop.com/nrf24l01-wireless-joystick/ --- * (cf. >>43082, et al)

>>43711 Hold your horses there partner an esp32 doesnt store pngs it stores bytes. A round lcd display 1.28 in has 240x240 pixels. The total screen uses 15kb per jpg. The esp32 has 4 mb of storage. Thats 4000 kb Theres also svgs that store shapes not pixels. In short an esp32 can store iver 100 eye shapes.

>>43713 >>43714 >no drivers and bit banging technically that is what the default python scripts/libraries do, drivers are any script that acts as the middle-man between user-driven software and the hardware. The main issue is the pi4s dont have much support/testing for multi SPI buses while the 5 does. I'm testing the new scripts/drivers for pi4 atm, so far so good as in they're working the same as the old ones w/ 1 screen at a time because the script is fighting over the SPI object (just need to add a bit to switch between) >>43724 >an esp32 doesnt store pngs it stores bytes Yeah good luck getting normies to get comfy with converting pngs to bytes and uploading it. Click/dragging files into a folder is much more user friendly >lcd display 1.28 inch smol lcd is smol

>>43725 >drivers are any script that acts as the middle-man between user-driven software and the hardware. <hardware abstraction layers can be complex trees of drivers supplying data both above & below themselves <and that's just the 10'000 foot overview! :D Heh, just thought I'd suggest it for you. :) Anyway, I'm confident you'll be able to arrive at a good solution in the end. Godspeed, Mechnomancer! Cheers.

>>43726 Ah learned some more fun info. Apparently the ILI chipset is not very forgiving when it comes to bitbanging (the ST chipset is), so when I was trying to drive the screens manually it would get the order of commands mixed up and/or not time them properly, resulting in only 1 screen getting the proper commands. So I asked chatgpt for a version using the 2 spi busses the pi 4 has in the kernel and after a few smol tweaks boom! 2 ILI9641s! But since the pi4 only has 2 built in SPI busses this is the max it can do, which is just enough for me! I might try it on the pi 5 and see how well it "animates" the screens while SPUD's smol character LLM is running. If I can get good gui performance with just 1 pi it would be a lot less complicated for me.

>>43733 >using the 2 spi busses the pi 4 has in the kernel and after a few smol tweaks boom! 2 ILI9641s! BOOM! I knew you could do it, Mechnomancer! Looking forward to seeing just how much you can squeeze out of 1 RPi, Anon. Cheers.

>>43734 Threw together a quick callibration test and some eyelashes. She gonna be cute :3 Before I try a silicone face I might do a hard pla face with some wood filler sanded down to cover the print lines. Yknow, a hard shell face like a certain robowaifu with no emotion lol

>>43735 Wow that was quick, Anon! GG. I'm wondering if you can obtain some kind of convex lenses of the proper size that you can nestle in between the LCD screens and the interior surface of the eyes frame? Something that would have the visual effect of optically 'transporting' the eyeball visuals into an actual semispherical shape. I hope that makes sense, Mechnomancer. Especially up close, that would probably enhance the immersive effect of the social experience with the new dear SPUD face. Regardless, this is exciting. Forward! :)

>>43736 >Wow that was quick, Anon! GG. I am using SPUDS old raspi 4 brain so lots of assets are available. I'll look into some lenses as soon as I find my ruler to measure the eyes (wanna get the right size ones) lol Unfortunately sending many kilobytes over the SPI bus takes time, and doing full frame updates leaves me with like 3 fps for the eyes. I'll be looking into some optimization methods.

>>43754 >Unfortunately sending many kilobytes over the SPI bus takes time, and doing full frame updates leaves me with like 3 fps for the eyes. It seems I recall reading that an SPI bus supports up to 50Mbps, so that should be plenty fast? - Maybe you need to adjust the config.txt to support a higher Baud rate? - Maybe the display devices themselves need adjusting? Good luck, Anon.

>>43755 >50Mbps for SPI That speed for the SPI bus is theoretical lab conditions from absolute lowest-level control. IRL you get like half that, then I'm going thru the kernel and python, manually flipping between 2 cs chips and various other bit-banging, all of which adds overhead. Because the ILI is so finicky and unforgiving so far all my attempts at optimization have resulted in a garbled mess. I do have some hope though because one of my recent fixes gave me a barely recognizable garbled mess at a slightly faster speed, which means it could be a simple encoding error instead :D

>>43758 Yeah, that makes some sense. Well, it seems hopeful that you think it might be an encoding error of some sort. Hopefully the links I sent you before might help you track that down if so. Good luck! :)

>>43759 Optimization didn't work out. I might try some smol dual displays via the raspi 5 DSI port eventually, but in the meantime I cobbled together a decent eye/blink protocol considering the limitations. The slight lag between the screens adds what I find to be an endearing derpiness XD Oh yeah, also started printing more face. Got the whole front half of a head printed. I could've done bigger parts but those would take more time than printing multiple smol parts.

>>43770 This looks really nice, Mechnomancer! You're capturing a true animu vibe with dear SPUD's new look. GG Anon. Cheers. :)

>>43770 One other thing I'd like to point out: in my research on facial (and particularly the eyes), it turns out that human eyes are NOT in perfect synchrony. Saccades, blinks, point of interest shifts; all happen with slight offsets between eyes. In fact, early CGI animators were encountering uncanny valley effects if they kept everything perfectly-synched between the pair of eyes for hero shots. At least one frame of offset is often thrown in now, if realism is the intended look. <---> So yeah: dear SPUD is ahead of the science curve here! :D

>>43770 Wow, that's fantastic. I'm not too familiar with the SPUD project (though I'll definitely backread), but have you considered going for a mini PC with USB-C to DP outputs? Personally I've found SBCs to be lacking in the last few years compared to the cheap mini PCs you can get. Very eager to see where you go with this direction! I think you've really found the perfect mix of anime style and realism.

>>43785 Last I checked there seems to be very little support for UGA adapters except for specific brands. I did find a DSI screen that has a similar footprint to the ILI9341. So I've ordered a pair and a 4g raspi 5: the raspi 4 only has 1 display port, while the pi5 has 2. Plus the pi5's stock cpu speed is like the 4's max overclock speed. >>43775 >not in perfect synchrony That might be true, but I'd like some control over the asynchrony. I found the minimum viable version, time to make it fancy!

>>43786 >I found the minimum viable version, time to make it fancy! POTD That's a great motivational image, Anon! Cheers. :)

DSI screens arrived and after activating them in the boot config they run like normal screens. I wasn't sure of the power requirements so I set them each to 10% brightness. I threw together a quick .gif and just used the raspi image previewer. The ribbons are a bit delicate, so I might replace them with dsi to hdmi cable converters (not hdmi-signal compatible, just using the hdmi cable). The downside is that the screens use up both DSI slots, which means I won't be able to connect the picam so I'm left with 2 options: either use a webcam or do that dual pi thing I was talking about. 2nd smoller raspi's shipment is currently in-progress. Also quite creepy when the screens are off. Eventually I'd like to try making some physical eyelids like the paperface. Maybe I'll put an eye sleepmask on the face when she isn't active.

>>43810 POTD Great progress, Mechnomancer! >The ribbons are a bit delicate, so I might replace them with dsi to hdmi cable converters (not hdmi-signal compatible, just using the hdmi cable). Seems like that's going to reduce the bus performance. Also, additional cost, weight, power-consumption and heat generation -- just to connect a set of ports together. What about just fishing around for longer DSI cables? This should allow you to fold them origami-style into the routing you need. Also, securing the connectors down at either end with Kapton tape (just tape them directly down; the stuff isn't electrically-conductive) should help with mechanical issues there. >either use a webcam or do that dual pi thing I was talking about. What about using a Pi Nano for the cam? [1] This seems a reasonable cost given this context (additional processing power of a general microcomputer, usable for other needs). OTOH, you might consider the smol'r version of the JeVois cam? Powerful, and already config'd onboard w/ OpenCV, &tc. [2] >Maybe I'll put an eye sleepmask on the face when she isn't active. Heh. :) Those beautiful eyelashes of dear SPUD's new look might get in the way? Can you use a couple of micro-servos to drive a pair of lids? <---> Regardless, we're all encouraged by this good progress, Anon. Keep moving forward! Cheers. :) --- 1. Example image of, in link-related: https://en.wikipedia.org/wiki/Camera_Serial_Interface 2. I have 2x of the JeVois-A33. They're smol & cheap. http://jevois.org/ ( >>1110 )

>>43813 >bus performance and dsi cables I think you misunderstand, the adapters are literally just form factor conversions (picrel), nothing fancy about them requiring power and whatnot. I use a dsi-hdmi-dsi setup for the raspicam already without any lag. HDMI cables are designed to not lose signal fidelity over distances :) The DSI ribbons are very easy to pinch and break the internal traces. Sure, could sandwich them between some tape to give them structural support but that gets weird really fast. >pi nano and jevois Thing is that it would already be quite useful to use 2 pis, one to do the eye graphics/control the body and the other dedicated to the AI stuff. I'd prefer to have ultimate control over the pi, and (eventually) put in a system where the user could add in their own vision processing modules. >Eyelids They're only made of paper, so they can bend n stuff. This is (hopefully) just gonna be a temporary face/proportion test while I start experimenting with making an additive silicone face. Maybe I could do a hybrid face usuing SPUD's old paperface to do sliding eyelids, idk.

>>43817 Ah, thanks for clearing that up. Yes that looks quite smol. It might be capable of 4Gbps. I wonder if it has much heat from that? I definitely concur with the general sentiment of multiple MPUs to spread out the compute load. Good luck with the face, Mechnomancer.

>>43810 Wow that head looks amazing!

>>43818 Testing out the adapters doesn't appear to result in any latency. Since SPUD's new head will be a bit larger I'll probably end up entirely rebuilding it to hold (among other things) a raspberry pi cluster rack (she'll get a groovyrgb fan on the back of her head lol)

>>43855 LOL >inb4 can I play Doom on it tho? :D That looks really cool, Mechnomancer! >Testing out the adapters doesn't appear to result in any latency. Outstanding. I hope you were able to find short cables. >Since SPUD's new head will be a bit larger I'll probably end up entirely rebuilding it to hold (among other things) a raspberry pi cluster rack (she'll get a groovyrgb fan on the back of her head lol) Can't wait to see this! Godspeed, Anon. Cheers. :)

>>43855 I really like the idea of the head being the actual brain.

While the pi rack is rather nice, it is too big since it is also built to house a jetson nano. I can probably repurpose it for something else and use its secrets to make a smoller rack.

>>43910 Well that's disappointing, but it looks like a quality rack. BTW, I really like dear SPUD's head profile. She's going to be very cute! Cheers, Mechnomancer.

>>43910 Could you ingrate a rack as part of the printed shell?

>>43911 >>43912 For the lulz I went ahead with trying to integrate it anyway. A few pieces of gorilla tape later it doesn't actually look half bad, especially with the old hair on it. I'll have to mod/redo the hair and get the pis wired up, but it might work out after all. Rack has a lot of room for future microservos for face expressions.

>>43916 <She doesn't have a "big head"; she just needs lots of room to stuff all those big brains of hers! :D >SMART ROBIT IS SMART. I think if you went for a 50's stylized bouffant "big hair" look you might just make this work well, Anon. >Rack has a lot of room for future microservos for face expressions. It sure does! It seems you've inverted it from what I expected was "right side up". Clever. How's the neutral weight balance of the head now during movements...does it take more power to keep her looking ahead, or is it still neutral-ish? Anyway, this was quicker progress than I expected. Nice work, Mechnomancer! Cheers. :)

>>43917 >neutral weight balance The neck is unpowered so far, and seems to be holding position fairly nicely. >big hair Quite a bit of animu gril head size is taken up by hair (in addition to their already inflated noggins). > quicker progress than I expected I was about to post my next update when you posted lol Got the fan wired up, the pi connected to the dual dsi screens and the eye.gif playing. Will need to do something about that hair and paint her face flesh-tone. There is also a 2nd empty raspi 5 in there waiting for goodies to be attached. Depending on LLM performance with the new eye program (need to code that lol) I might downgrade to a pi-4 just to run the picam. Protocol would be something like: a handshake with the camerapi when the code initializes (are you there? use the camera, if not skip it) then a simple ping query with timeout. send "ping", picam runs image recognition and returns a string of text, if no response after 2 seconds deactivate the cam and say an error message.