General (#2) - Elckerlyc with Robots (#19) - Message List

Elckerlyc with Robots
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Dear All, I work in European Lirec Project (Living with Robots and Interactive Companions) where we try to build social robots. We already have some constructions like:

and many more. But we don't have any system to realize expressive behaviours. So, I would like to use for this purpose the Elckerlyc. I want to ask you if you can support me in process of integration Elckerlyc with our robots. For know, I don't even know where to start:). If you can help me I'll explain more about what I want to have. Regards, Adam

  • Message #9

    Hi Adam,

    I'd be happy to help you! Sorry for not responding sooner -- I though I had set up the board to notify me of new messages, but apparently I didn't... I'll start checking the board proactively :)

    -Dennis

    • Message #11

      Hi Dennis, First I want to build new VirtualHumanModel? for Elckerlyc from my 3d models of Flash Robot. I already have 3dsmax models for robot head. What I should do to import it to Elckerlyc Engine? I'm not familiar with the programs for 3D modelling:).

      • Message #12

        What kind of head? What does it have to make face expressions?

        -D

        • Message #13

          Hi Dennis, On this page  http://emys.lirec.ict.pwr.wroc.pl/index.php/photos/category/10-expressions are 20 photos with capabilites of Emys robot head. Emys has 11DOF's as shown in figure on  http://dl.dropbox.com/u/7918695/emys_joints.png. We want to control Emys with FACS. I know Elckerlyc can control virtual face with FACS. Do you need more information? Thanks in advance. Adam

          • Message #16

            OK. This 3d max model, it contains exactly the joints that you use to animate all the facial expressions, right? So if I rotate one of the joints of the graphical model, you will see the facial expression change?

            Elckerlyc can control faces using FACS -- what we need to do is build a small intermediate interface that translates the FACS to whatever you use to change the shape of the face. In our own avatar, these are MPEG4 FAP configurations; in your EMYS head these are joint rotations of the 11DOFs.

            First step is, that you are able to load the EMYS head into our environment using the Collada format (see also Herwin's reply to your other post).

            -Dennis

            • Message #17

              Dennis, thanks for your answer.

              This 3d max model, it contains exactly the joints that you use to animate all the facial expressions, right?

              I don't know because I didn't build it. But I'll contact with person who made this 3d model.

              Elckerlyc can control faces using FACS -- what we need to do is build a small intermediate interface that translates the FACS to whatever you use to change the shape of the face.

              I know it and we've done a map between emys' joints and FACS. Now I should build this small interface in Elckerlyc. Can you support me with this task?:)

              First step is, that you are able to load the EMYS head into our environment using the Collada format (see also Herwin's reply to your other post).

              I have a lot of problems with it. First of all I have access to 3dsmax only in version 2012. After googling I noticed that the FCollada exporter is onlo for 3dsmax 2010. So I use OpenCollada? exporter. What do you think about this plugin? I afraid about size of collada file because it has ~12MB. Secondly. I tried to run GraphicsEnvironmentDemo? and I have a lot of warning and I don't see anything except main window. The warning messages:

              • from my terminal:
              run:
                   [java] 14:34:07.229 [main] WARN  hmi.graphics.scenegraph - SceneIO.readGScene: java.lang.RuntimeException: ColladaTranslator.colladaToGScene: Collada document without scene.
                   [java] 2011-10-19 14:34:07 hmi.graphics.collada.Collada severe
                   [java] SEVERE: Collada.forResource "Shared3DModels/cokecan/cokecan_scale0.01.dae":  EMPTY or NULL DOCUMENT
                   [java] 14:34:07.367 [AWT-EventQueue-0] DEBUG hmi.environment.GraphicsEnvironment - Done rendering debug viz
              
              • form aplication console
              GLShader: Could not find/load shader program for shader colorShader
              GLShader: Could not find/load shader program for shader colorShader
              

              I've tried with default model and Emys' model. What do I wrong?

              • Message #18

                Hi!

                do you run from eclipse, or from ant?

                note that the following paths need to be on the classpath for this demo:

                HmiResource/Shared?3DModels/resource HmiResource/DefaultShaders?/resource

                • Message #21

                  I tried run it from ant, both versions: default and changed to view my model. I believe that the default version is configured properly.

                  Maybe should I try in Windows?:) Adam

                  PS Can you register me on this forum? I would to have email notifications from this discussion.

                  • Message #24

                    Registration: done. Welcome :)

                    As for the other: hm... does it work in windows?

              • Message #19

                I know it and we've done a map between emys' joints and FACS. Now I should build this small interface in Elckerlyc. Can you support me with this task?:)

                Yes :)

                So I use OpenCollada?? exporter. What do you think about this plugin?

                Don't know -- maybe Herwin can answer that.

                Size of collada file because it has ~12MB

                if you have a collada file, and you want me to test it on my system, let me know... I'd be happy to do so for you. On a side note, we also have code to compress the collada file again to our own binary format, for use in Elckerlyc. This may be useful, since Collada format *does* in fact require a lot of space :)

                • Message #20

                  I tried OpenCollada? and it didn't work, I forgot what the issue was. That was over a year ago though, so maybe stuff is better now. If so I'd like to hear about it, the Feelingsoft exporter has some issues too, and typically requires us to manually tweak the generated .dae a bit :(

                  If you are willing to send the .max file I can probably do a quick conversion for you.

                  • Message #22

                    I tried OpenCollada? and it didn't work, I forgot what the issue was. That was over a year ago though, so maybe stuff is better now. If so I'd like to hear about it, the Feelingsoft exporter has some issues too, and typically requires us to manually tweak the generated .dae a bit :(

                    If you are willing to send the .max file I can probably do a quick conversion for you.

                    I will be grateful if you do it. At this  http://dl.dropbox.com/u/7918695/emysmax.zip you can find Emys max models in two versions. First is quiet big and second is after reducing polygons. Can you look at this models and check if these files are correctly prepared to use in Elckerlyc?

                    • Message #23

                      dear welberge, did you do something with Emys models? I'll be glad if send me some informations:) Regards, Adam

                      • Message #25

                        Sorry about the somewhat late feedback, I didn't check the forums for a while. Anyways, I tried to open the files but got the following error: http://www.herwinvanwelbergen.nl/missingdlls.png I'm probably missing some plugins that you use. Maybe you can try changing the model a bit so that these are not needed? Most of them seem sound related.

                        • Message #26

                          Maybe it is a problem with 3dMax version. I use 2012. At  http://dl.dropbox.com/u/7918695/emysmax.zip you can find files for different version of 3dmax.

                          • Message #27

                            I tried all of those, still get the same error :(

                            • Message #28

                              Maybe I should use another format. Do you have any idea which of supported in 3DSM file formats we can use?

                              • Message #29

                                Maybe fbx?

                                • Message #30

                                  Hi, try with  http://dl.dropbox.com/u/7918695/EmysMaxFbx.zip

                                  PS How can I turn on email notifications for this forum?

                                  • Message #31

                                    don't know how to get notification working... I use an RSS feed, that works for me...

                                  • Message #32

                                    I'm getting a:

                                    File Input/Output? Error -

                                    (without any further information) when I try to open these in 3D studio max.

                                    • Message #33

                                      So, I don't have any idea how to solve this problem:( Plugins (prosound etc.) are default plugins in 3dsmax and I don't know how to disable them in Emys model. I use 3dsmax 2012 because it is free for students, and I don't have access to previous version. Maybe we can try another formats? I exported to every available  http://dl.dropbox.com/u/7918695/emysexport.zip

                                      • Message #35

                                        hmmm... seems that dropbox has no such link?

                                        -dennis

                                        • Message #36

                                          Try one more time. I've turned off my computer too fast and dropbox did not managed to upload data in the given time:)

                                          • Message #38

                                            I managed to convert the .obj version. No idea if it looks the way it's supposed to be looking though. I've uploaded it here:  http://www.herwinvanwelbergen.nl/emy.zip

  • Message #34

    Hi everybody,

    I'm working on social robotics as well. Therefore I'm trying to use your promising framework. According to your "Elckerlyc in practice"-paper there is an implementation for "Nabaztag". Is it possible to get access to the source code to get an insight into how one should start? Or am I just blind? ;-)

    Thanks in advance! Florian

    • Message #37

      Hi!

      For sharing, I may have a version for you that runs on a software simulation of nabaztag. I'd need to look into that. Can you send me a direct email at my university account, so I can send something to you?

      regards,

      Dennis Reidsma Human Media Interaction / Creative Technology University of Twente

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