Synthiam is a robot control language from the EZ builder company and is used with robots like the InMoov 3d printed robot projects.
It has an amazing graphical user interface which allows you to move your robots arms and legs and head and eyes and mouth and all parts that should move.
Here is the comments from one builder of an InMoov robot who decided to move away from his use of the MRL software to the Synthiam software and is very pleased. https://synthiam.com/Community/Robots/Inmoov-Conversion-321
(Under construction Oct 17, 2021)