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Docker containers for OpenCog - Robot Operating System (ROS)
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fix up install so that python runs and Sophia head is loaded #169

Closed mwigzell closed 2 years ago

mwigzell commented 2 years ago

the pi_vision component of 'eva-ros' docker is working. (webcam comes up, blender with Sophia head comes up).

mwigzell commented 2 years ago

it seems I can't write the pull request to the opencog/docker repo? (my enlistment is still using my forked repo, I'll change that after this, if I get access)

linas commented 2 years ago

it seems I can't write the pull request to the opencog/docker repo?

I think you mean "can't write branches to the opencog repo". You wrote the pull req just fine.

(my enlistment is still using my forked repo, I'll change that after this, if I get access)

No. As a general rule, you should continue working in your own repo, and then create pull reqs into the opencog repo. (Even when you have write permissions) That's the standard procedure; that's kind of the whole point of having git, as otherwise we descend to the bad-old days of using svn-style development.

mwigzell commented 2 years ago

ah ok. I didn't understand. So, I will make forks of any repo I intend to update, and submit pull requests to update.

On Fri, Feb 25, 2022 at 6:11 PM Linas Vepštas @.***> wrote:

it seems I can't write the pull request to the opencog/docker repo?

I think you mean "can't write branches to the opencog repo". You wrote the pull req just fine.

(my enlistment is still using my forked repo, I'll change that after this, if I get access)

No. As a general rule, you should continue working in your own repo, and then create pull reqs into the opencog repo. (Even when you have write permissions) That's the standard procedure; that's kind of the whole point of having git, as otherwise we descend to the bad-old days of using svn-style development.

— Reply to this email directly, view it on GitHub https://github.com/opencog/docker/pull/169#issuecomment-1051461161, or unsubscribe https://github.com/notifications/unsubscribe-auth/AB5DUK4W63GIHC3BX62KMFTU5AZFZANCNFSM5PLQ2J3A . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

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linas commented 2 years ago

Mostly its just a way of avoiding getting into a jam manipulating repos.

mwigzell commented 2 years ago

About "sophia": I see. But the issue is there is this file : https://github.com/opencog/blender_api/blob/master/Sophia.blend And this folder: https://github.com/opencog/robots_config/tree/master/sophia So the original Eva.blend used to be where Sophia.blend is now. And the sophia folder was created by someone a while ago to target the Sophia head I thought. So I now support the startup via eva-ros/scripts/sophia.sh and I'm not sure what to do with eva-ros/scripts/eva.sh, since it would appear that Eva.blend is not as good? I'm confused.

On Fri, Feb 25, 2022 at 6:07 PM Linas Vepštas @.***> wrote:

@.**** approved this pull request.

I'm going to merge this, but I think it pretty important/urgent to avoid calling anything "sophia".

In noetic/README.txt https://github.com/opencog/docker/pull/169#discussion_r815251276:

@@ -1,6 +1,6 @@ Status

-The project so far is the Roadmap 1. See below. With the caveat that certain libs are unavail. therefore commented out. +My project so far is in the Roadmap 1 stage. See below.

"The" does sound better. My goal is to recruit more people!

In noetic/README.txt https://github.com/opencog/docker/pull/169#discussion_r815251462:

  1. eva-owyl builds & works
    • (will need to replace OWYL with atomspace: eva-atom?)

Just discard eva-owyl, pretend it never existed. the eva-silent version does everything eva-owyl did, and more.

In noetic/eva-ros/Dockerfile https://github.com/opencog/docker/pull/169#discussion_r815251579:

Git pull for all packages

RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \ -execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;

The blender API has not been fully catkinized yet.

-RUN pip3 install ./blender_api_msgs/ +RUN pip3 install ./blender_api_msgs/ dlib +run ln -s /usr/bin/python3 /usr/bin/python

Hah!

In noetic/eva-ros/Dockerfile https://github.com/opencog/docker/pull/169#discussion_r815252028:

RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc

COPY /scripts/eva.sh /catkin_ws/eva.sh +COPY /scripts/sophia.sh /catkin_ws/sophia.sh

I recommend against calling anything "Sophia". The deal was that "Sophia" would be a Hanson Robotics trademark for the celebrity robot, while Eva would be the open-source version that anyone could dink with. The point here is to avoid confusion between the highly valuable trademark, and the technology people could fool with.

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linas commented 2 years ago

Ah. The rename to "Sophia" should not have been done in the public git repo. The issue was that, just as we were touring the robot, the Hollywood movie "Ex Machina" came out, where the main character was a robot called Eva, ... who ... even looked like Eva, with the clear-plastic skull & everything. (This may have been intentional? David was pretty famous by then.) So there was a scramble to change the name to Sophia ... in the private git repos. Apparently, in the heat of the moment, a public git repo was renamed as well.

The right thing to do is to rename everything back to Eva. I guess maybe I should do the renaming. As to which blender file to use ... Can you tell me which one you think is the best one, and which one seems to be the second best? (Do both have the missing nose-bone; do both have the cyclic dependencies? Any of them have lighting issues? It is possible that the nose bone was broken during an attempt to decouple the smile animations from the phoneme animations: weird stuff happened if you tried to make her talk while smiling at the same time... So I want to keep around all versions of the blend file, until we can figure out which is the "best".)

mwigzell commented 2 years ago

Hi LInas, so first off, I ended up with just the "blender_api" master from github, and my search resulted in: https://github.com/vytasrgl/blender_api.git (In there is an Eva.blend). So I have two heads. Let me note that the two heads I have are distinctly different: the "Sophia.blend" has no eyes. Since she is in the blender_api master, I've been using her, thinking that that is surely the latest. However I am using the start up script that is in eva-ros/scripts/eva.sh. This script tries to run from "robots_config". I need to talk to you about that. But first. The vytasrgl head shows following log when started on its Eva.blend:

***@***.***:blender_api2$ blender Eva.blend
Read blend: /home/mark/Dev/src/blender_api2/Eva.blend
scripts disabled for "/home/mark/Dev/src/blender_api2/Eva.blend", skipping
'loader.py'
add_relation(Bone Parent) - Could not find op_from (ComponentKey(OBdeform,
BONE, 'Nose'))
add_relation(Bone Parent) - Failed, but op_to
(ComponentKey(OBWGT-eyelid_U.R.001, TRANSFORM)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-sleep', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-normal', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
WARN (bke.object): source/blender/blenkernel/intern/object.cc:3408
ob_parbone: Parent Bone: 'Nose' for Object: 'WGT-eyelid_U.R.001' doesn't
exist
WARN (bke.anim_sys): source/blender/blenkernel/intern/anim_sys.c:3594
BKE_animsys_eval_driver: invalid driver -
pose.bones["blink_duration"]["prop"][0]
Read blend: /home/mark/Dev/src/blender_api2/Eva.blend
/home/mark/Dev/src/blender_api2/Eva.blend/loader.py:4: DeprecationWarning:
the imp module is deprecated in favour of importlib and slated for removal
in Python 3.12; see the module's documentation for alternative uses
register_class(...):
Warning: 'BLRigControl' does not contain '_PT_' with prefix and suffix
register_class(...):
Warning: 'BLRigConsole' does not contain '_PT_' with prefix and suffix
Starting AnimationManager singleton
add_relation(Bone Parent) - Could not find op_from (ComponentKey(OBdeform,
BONE, 'Nose'))
add_relation(Bone Parent) - Failed, but op_to
(ComponentKey(OBWGT-eyelid_U.R.001, TRANSFORM)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-sleep', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-normal', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
WARN (bke.object): source/blender/blenkernel/intern/object.cc:3408
ob_parbone: Parent Bone: 'Nose' for Object: 'WGT-eyelid_U.R.001' doesn't
exist
WARN (bke.anim_sys): source/blender/blenkernel/intern/anim_sys.c:3594
BKE_animsys_eval_driver: invalid driver -
pose.bones["blink_duration"]["prop"][0]

By contrast, the eyeless Sophia.blend from master shows:

***@***.***:/catkin_ws/src/blender_api# blender Sophia.blend
Warning: Falling back to the standard locale ("C")
Warning: property 'release_confirm' not found in keymap item
'OperatorProperties'
Read blend: /catkin_ws/src/blender_api/Sophia.blend
scripts disabled for "/catkin_ws/src/blender_api/Sophia.blend", skipping
'loader.py'
add_relation(Bone Parent) - Could not find op_from (ComponentKey(OBdeform,
BONE, 'Nose'))
add_relation(Bone Parent) - Failed, but op_to
(ComponentKey(OBWGT-eyelid_U.R.001, TRANSFORM)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-sleep', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-normal', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
Dependency cycle detected:
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() depends on
  MASkin/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
Dependency cycle detected:
  MASkin.Scatter/Shading Component/MATERIAL_UPDATE() depends on
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
  MASkin/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
  MASkin.Scatter/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
Dependency cycle detected:
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() depends on
  MASkin.SSS/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
Dependency cycle detected:
  OBdeform/head/BONE_CONSTRAINTS() depends on
  OBcontrol/head_target/BONE_DONE() via 'Child Of'
  OBcontrol/head_target/BONE_READY() via 'Ready -> Done'
  OBcontrol/head_target/BONE_CONSTRAINTS() via 'Constraints -> Ready'
  OBdeform/DEF-head/BONE_DONE() via 'Locked Track'
  OBdeform/DEF-head/BONE_READY() via 'Ready -> Done'
  OBdeform/DEF-head/BONE_POSE_PARENT() via 'Pose -> Ready'
  OBdeform/head-target/BONE_DONE() via 'Parent Bone -> Child Bone'
  OBdeform/head-target/BONE_READY() via 'Ready -> Done'
  OBdeform/head-target/BONE_CONSTRAINTS() via 'Constraints -> Ready'
  OBdeform/head/BONE_DONE() via 'Locked Track'
  OBdeform/head/BONE_READY() via 'Ready -> Done'
  OBdeform/head/BONE_CONSTRAINTS() via 'Constraints -> Ready'
Detected 4 dependency cycles
ERROR (bke.object):
/build/blender-RL3axj/blender-2.82.a+dfsg/source/blender/blenkernel/intern/object.c:2298
ob_parbone: Object WGT-eyelid_U.R.001 with Bone parent: bone Nose doesn't
exist
ERROR (bke.anim_sys):
/build/blender-RL3axj/blender-2.82.a+dfsg/source/blender/blenkernel/intern/anim_sys.c:4160
BKE_animsys_eval_driver: invalid driver -
pose.bones["blink_duration"]["prop"][0]
Writing userprefs: '/root/.config/blender/2.82/config/userpref.blend' ok
Read blend: /catkin_ws/src/blender_api/Sophia.blend
/catkin_ws/src/blender_api/Sophia.blend/loader.py:4: DeprecationWarning:
the imp module is deprecated in favour of importlib; see the module's
documentation for alternative uses
Warning: class EVA_OT_debug contains a property which should be an
annotation!
/catkin_ws/src/blender_api/rigControl/blenderPlayback.py:267
    assign as a type annotation: EVA_OT_debug.action
Registering panel class: 'BLRigControl' misses category, please update the
script
register_class(...):
Warning: 'BLRigControl' doesn't contain '_PT_' with prefix & suffix
Registering panel class: 'BLRigConsole' misses category, please update the
script
register_class(...):
Warning: 'BLRigConsole' doesn't contain '_PT_' with prefix & suffix
Registering panel class: 'BLActuatorControl' misses category, please update
the script
register_class(...):
Warning: 'BLActuatorControl' doesn't contain '_PT_' with prefix & suffix
Warning: class HR_ACT_Blink_randomly contains a property which should be an
annotation!
/catkin_ws/src/blender_api/rigControl/actuators.py:116
    assign as a type annotation: HR_ACT_Blink_randomly.parameter_order
Traceback (most recent call last):
  File "/catkin_ws/src/blender_api/Sophia.blend/loader.py", line 15, in
<module>
    register()
  File "/catkin_ws/src/blender_api/Sophia.blend/loader.py", line 13, in
register
    rigControl.init()
  File "/catkin_ws/src/blender_api/rigControl/__init__.py", line 47, in init
    animationManager.init()
  File "/catkin_ws/src/blender_api/rigControl/animationManager.py", line
617, in init
    bpy.evaAnimationManager = AnimationManager()
  File "/catkin_ws/src/blender_api/rigControl/animationManager.py", line
81, in __init__
    self.actuatorManager = ActuatorManager()
  File "/catkin_ws/src/blender_api/rigControl/actuators.py", line 94, in
__init__
    actuator.generator.send(None)
  File "/catkin_ws/src/blender_api/artistic/actuators.py", line 28, in
blink_randomly
    self.add_parameter(bpy.props.StringProperty(name='interval',
  File "/catkin_ws/src/blender_api/rigControl/actuators.py", line 65, in
add_parameter
    getter, setter = self.register_parameter(self.name, bl_prop)
  File "/catkin_ws/src/blender_api/rigControl/actuators.py", line 129, in
register_parameter
    bltype_act = getattr(bpy.types,
'HR_ACT_{}'.format(actuator_name.capitalize()))
AttributeError: 'RNA_Types' object has no attribute 'HR_ACT_Blink_randomly'
add_relation(Bone Parent) - Could not find op_from (ComponentKey(OBdeform,
BONE, 'Nose'))
add_relation(Bone Parent) - Failed, but op_to
(ComponentKey(OBWGT-eyelid_U.R.001, TRANSFORM)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-sleep', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
find_node_operation: Failed for (BONE_DONE, '')
add_relation(Action) - Could not find op_from (OperationKey(type: BONE,
component name: 'CYC-normal', operation code: BONE_DONE))
add_relation(Action) - Failed, but op_to (OperationKey(type: BONE,
component name: 'eye_L', operation code: BONE_CONSTRAINTS)) was ok
Dependency cycle detected:
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() depends on
  MASkin/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
Dependency cycle detected:
  MASkin.Scatter/Shading Component/MATERIAL_UPDATE() depends on
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
  MASkin/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
  MASkin.Scatter/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
Dependency cycle detected:
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() depends on
  MASkin.SSS/Shading Component/MATERIAL_UPDATE() via 'Material -> Node'
  NTShader Nodetree/Shading Component/MATERIAL_UPDATE() via 'Material's
NTree'
Dependency cycle detected:
  OBdeform/head/BONE_CONSTRAINTS() depends on
  OBcontrol/head_target/BONE_DONE() via 'Child Of'
  OBcontrol/head_target/BONE_READY() via 'Ready -> Done'
  OBcontrol/head_target/BONE_CONSTRAINTS() via 'Constraints -> Ready'
  OBdeform/DEF-head/BONE_DONE() via 'Locked Track'
  OBdeform/DEF-head/BONE_READY() via 'Ready -> Done'
  OBdeform/DEF-head/BONE_POSE_PARENT() via 'Pose -> Ready'
  OBdeform/head-target/BONE_DONE() via 'Parent Bone -> Child Bone'
  OBdeform/head-target/BONE_READY() via 'Ready -> Done'
  OBdeform/head-target/BONE_CONSTRAINTS() via 'Constraints -> Ready'
  OBdeform/head/BONE_DONE() via 'Locked Track'
  OBdeform/head/BONE_READY() via 'Ready -> Done'
  OBdeform/head/BONE_CONSTRAINTS() via 'Constraints -> Ready'
Detected 4 dependency cycles
ERROR (bke.object):
/build/blender-RL3axj/blender-2.82.a+dfsg/source/blender/blenkernel/intern/object.c:2298
ob_parbone: Object WGT-eyelid_U.R.001 with Bone parent: bone Nose doesn't
exist
ERROR (bke.anim_sys):
/build/blender-RL3axj/blender-2.82.a+dfsg/source/blender/blenkernel/intern/anim_sys.c:4160
BKE_animsys_eval_driver: invalid driver -
pose.bones["blink_duration"]["prop"][0]

Obviously, a lot more output for the Sophia one: I suspect Sophia has more messages/commands/bones than the Eva one? I don't know. They both have issues with "BONE_DONE"

AHEM: regarding the "robots_config" issue I mentioned above: the perception node which is launched thusly: "tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'" is seemingly not only bit-rotted but is apparently mis-aligned regarding the "launch" arguments: The ones used in particular look like this: "" whereas a launch file of same name perception/launch/geometry.launch has the args: "<arg name="pau_joints" default="Eyes_Pitch;Eye_L;Eye_R;roll_base_joint;pitch_base_joint;yaw_joint;roll_neck_joint;pitch_neck_joint" />" (note: there are 8 defined, but the script only has a switch for 6 of them.) In trying to fix the perception python script "joint_state_publisher.py", after updating for the new python syntax and commenting out a reference to subscribing for the dynamixel joints, it actually started to run! Here, I was running the local geometry.launch, which defines the "pau_joints". If I use the configured geometry.launch then it fails because it hasn't matched anything, and the code is badly written for that edge case. In addition to this, the second python script (faces_tf2_broadcaster.py) exits because it is timing out waiting for the camera FACES messages to arrive: "No camera transforms!" I was hoping, that it is trying to read the FACES messages that my recent changes to pi_vision should now be supplying. But it doesn't give much time for them to start showing up, it seems like 3 seconds is the timeout. Am I interpreting this correctly? That means I need to start up the webcam pretty quickly. Also this file has code that is commented out, that pertains to the "tf2" version. But as near as I can see this code IS the tf2 version, so I am confused. Is there any hope of engaging the original authors of the perception node? All these issues are pretty demoralizing: I get the feeling the code in the repos was not in running condition when it was abandoned. Do we have tags on the repos for when the code actually did work?

On Sat, Feb 26, 2022 at 9:17 AM Linas Vepštas @.***> wrote:

Ah. The rename to "Sophia" should not have been done in the public git repo. The issue was that, just as we were touring the robot, the Hollywood Movie "Ex Machina" came out, where the main character was a robot called Eva, ... who ... even looked like Eva, with the clear-plastic skull & everything. (This may have been intentional? David was pretty famous by then.) So there was a scramble to change the name to Sophia ... in the private git repos. Apparently, in the heat of the moment, a public git repo was renamed as well.

The right thing to do is to rename everything back to Eva. I guess maybe I should do the renaming. As to which blender file to use ... Can you tell me which one you think is the best one, and which one seems to be the second best? (Do both have the missing nose-bone; do both have the cyclic dependencies? Any of them have lighting issues? It is possible that the nose bone was broken during an attempt to decouple the smile animations from the phoneme animations: weird stuff happened if you tried to make her talk while smiling at the same time... So I want to keep around all versions of the blend file, until we can figure out which is the "best".)

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linas commented 2 years ago

Hi Mark,

All these issues are pretty demoralizing: I get the feeling the code in the repos was not in running condition when it was abandoned.

Remember what I said about herding cats and pushing rope? This is what happens when everyone has commit privileges, everyone is being pushed to work as fast as possible, and no one is in charge. So everyone commits their favorite hack that makes things work for them, in their special the-house-is-burning-down situation, with no regard for stability. When everything is an emergency, its just chaotic.

So a list of recommendations, from the obvious to the more confusing:

  1. Rename Sophia.blend to eva-eyeless.blend
  2. Contact the blender mailing list about the missing nose bone. Just write something like "I have no clue what I'm doing, I have a file with a missing bone, can you help me?" Fingers crossed, someone will help with that.
  3. I'll poke around with blender, see if I get lucky.
  4. Stub out everything related to pololu. This is the name brand of a certain motor, and we are not driving any motors, so those links can be severed.
  5. See if you can find what code is printing "No camera transforms!" -- I'm wondering if this is blender code, not tf2 code?
  6. It should not matter if the camera code is getting set up late. If there are no visible faces, she yawns, looks around, yawns again, and falls asleep. Here, "sleep" means she closes her eyes, but the breathing animation continues, so the head should slowly bob, like she's breathing. The CYC-sleep is the "cyclical sleeping animation". When someone appears on the camera, she'll go into CYC-normal, open her eyes, yawn, turn to face you and then smile. There's a pdf in the git repo that explains the CYC and the other animations.
  7. Well, what I said above is true only when everythhing is hooked up. The CYC animations run inside blender itself; the control of which CYC animations to launch (when she sleeps, when she wakes up), all that is from opencog scripts.
  8. I'll spend the evening dinking with this, see if I get lucky.
mwigzell commented 2 years ago

Hi Linas, well zooming into point 5 above: yes, the code for the "No camera transforms!" is fperception/nodes/aces_tf2_broadcaster.py See the lines:

Wait for camera and eye transforms

    try:
        self.listener.waitForTransform('camera', 'world',
            rospy.Time(0), rospy.Duration(3))
    except Exception:
        rospy.logerr("No camera transforms!")
        exit(1)

So like I say, the local geometry.launch has the pau joints defined: <arg name="pau_joints" default="Eyes_Pitch;Eye_L;Eye_R;roll_base_joint;pitch_base_joint;yaw_joint;roll_neck_joint;pitch_neck_joint" /> but the robots_config/sophia/geometry.launch file (the one we are configured to use), only has NO pau_joints defined at ALL instead it defines these pololu joints: "pololu_joints" default="Eyes_Pitch;Eye_L;Eye_R" Therefore the configured robot is still using pololu, so its misaligned right? I'm tempted to replace it. Still doesn't run though because of an index error. As to renaming, Sophia, got it. I can do that before my next checkin, but I don't want to rename things till I have it working. Are you suggesting that I have the blender people fix the Eyeless Hag? Will the eyes show up if it starts up properly? I mean, are they hiding somewhere in the configuration?

On Sat, Feb 26, 2022 at 3:31 PM Linas Vepštas @.***> wrote:

Hi Mark,

All these issues are pretty demoralizing: I get the feeling the code in the repos was not in running condition when it was abandoned.

Remember what I said about herding cats and pushing rope? This is what happens when everyone has commit privileges, everyone is being pushed to work as fast as possible, and no one is in charge. So everyone commits their favorite hack that makes things work for them, in their special the-house-is-burning-down situation, with no regard for stability. When everything is an emergency, its just chaotic.

So a list of recommendations, from the obvious to the more confusing:

  1. Rename Sophia.blend to eva-eyeless.blend
  2. Contact the blender mailing list about the missing nose bone. Just write something like "I have no clue what I'm doing, I have a file with a missing bone, can you help me?" Fingers crossed, someone will help with that.
  3. I'll poke around with blender, see if I get lucky.
  4. Stub out everything related to pololu. This is the name brand of a certain motor, and we are not driving any motors, so those links can be severed.
  5. See if you can find what code is printing "No camera transforms!" -- I'm wondering if this is blender code, not tf2 code?
  6. It should not matter if the camera code is getting set up late. If there are no visible faces, she yawns, looks around, yawns again, and falls asleep. Here, "sleep" means she closes her eyes, but the breathing animation continues, so the head should slowly bob, like she's breathing. The CYC-sleep is the "cyclical sleeping animation". When someone appears on the camera, she'll go into CYC-normal, open her eyes, yawn, turn to face you and then smile. There's a pdf in the git repo that explains the CYC and the other animations.
  7. Well, what I said above is true only when everythhing is hooked up. The CYC animations run inside blender itself; the control of which CYC animations to launch (when she sleeps, when she wakes up), all that is from opencog scripts.
  8. I'll spend the evening dinking with this, see if I get lucky.

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linas commented 2 years ago

OK, I poked around and looked at the various blender files. I believe that when the bone connections are fixed, the eyes and the eyebrows will show up. They're in the file, but disconnected. There seem to be three other problems: (1) the lighting is wrong, she's poorly lit; (2) there's a skin texture, it's missing (3) by default, a bunch of blender controls pop up. For the default view, we want all the blender menus and buttons to be hidden, blocked.

She should not look so ugly, she should look like the screenshots in the main README of this repo. See the bright pink spot on her nose? That bright pink spot is a spotlight, it should be illuminating all of her, she should be all bright pink, instead of grey-toned. The screenshots were taken with the spotlight broken.

The root issue is that blender 2.72 was incompatible with blender 2.69, and so, back then, some of he blend files refused to even load. Now they all load, but all of them load with errors. I'll spend a few more hours poking, see if I can get lucky.

In any of your explorations, have you ever gotten her to come alive (start breathing?) She's not breathing, for me. There's also a menu of animations; have you gotten any of hem to play? Mostly, I'll try to get her rendering, and breathing, and then check all the animations. Its all just python code; how hard can it be, eh?

The geometry.launch file -- do whatever it takes. This is the problem with ROS - its mostly about connecting things to other things, but you have to have a good idea of what you're connecting together, and that can be confusing.

linas commented 2 years ago

For the ftf2 camera, either start it earlier, or change the timeout from 3 seconds to something longer.

mwigzell commented 2 years ago

Got it.

On Sat, Feb 26, 2022 at 6:10 PM Linas Vepštas @.***> wrote:

For the ftf2 camera, either start it earlier, or change the timeout from 3 seconds to something longer.

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mwigzell commented 2 years ago

have you ever gotten her to come alive (start breathing?) She's not breathing, for me

No! That is the issue, I can't even see how she is supposed to be. I have no way of exploring/fixing such a broken file. The Blender app that I have in the docker is using the absolute latest blender that runs on Ubuntu 20.04.

This is the problem with ROS - its mostly about connecting things to other things, but you have to have a good idea of what you're connecting together, and that can be confusing.

1) Thats why I'm pestering you! I'm trying to find out, how were the bits supposed to connect together? I hate to assume that the way it is now shipping is wrong, and backwards etc. I have no real clue. For instance: do you agree with me that the 6 case switch in the code for the PAU joints is actually to be fed by the 8 item list that is in the local "geometry.launch" and not the one that is in the robots_config/sophia/geometry.launch ?

2) Should I reasonably expect that those 6/8 joints/motors whatever will match to the animations in the blender model?

3) let me try to sell the current Eyeless Hag to someone in the Blender group. I'll CC you.

On Sat, Feb 26, 2022 at 6:07 PM Linas Vepštas @.***> wrote:

OK, I poked around and looked at the various blender files. I believe that when the bone connections are fixed, the eyes and the eyebrows will show up. They're in the file, but disconnected. There seem to be three other problems: (1) the lighting is wrong, she's poorly lit; (2) there's a skin texture, it's missing (3) by default, a bunch of blender controls pop up. For the default view, we want all the blender menus and buttons to be hidden, blocked.

She should not look so ugly, she should look like the screenshots in the main README of this repo. See the bright pink spot on her nose? That bright pink spot is a spotlight, it should be illuminating all of her, she should be all bright pink, instead of grey-toned. The screenshots were taken with the spotlight broken.

The root issue is that blender 2.72 was incompatible with blender 2.69, and so, back then, some of he blend files refused to even load. Now they all load, but all of them load with errors. I'll spend a few more hours poking, see if I can get lucky.

In any of your explorations, have you ever gotten her to come alive (start breathing?) She's not breathing, for me. There's also a menu of animations; have you gotten any of hem to play? Mostly, I'll try to get her rendering, and breathing, and then check all the animations. Its all just python code; how hard can it be, eh?

The geometry.launch file -- do whatever it takes. This is the problem with ROS - its mostly about connecting things to other things, but you have to have a good idea of what you're connecting together, and that can be confusing.

— Reply to this email directly, view it on GitHub https://github.com/opencog/docker/pull/169#issuecomment-1052951168, or unsubscribe https://github.com/notifications/unsubscribe-auth/AB5DUK7Q2R5WSGM2K55XIQTU5GBOZANCNFSM5PLQ2J3A . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

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mwigzell commented 2 years ago

I read the opencog/learn/README Very interesting read, so if I understood right, to do vision we need to parse the image into a visual grammar made out of pair-wise features. The actual grammar needs to be acquired through unsupervised learning and stored in the AtomSpace? Sounds interesting. As to the scientists chaotic mad lab full of experiments that don't work: hmm I"m for more rigour. All that work whose design was intended to be measured: should be in a nice giant Jenkins builder off of Github. The repos in the lab should get validated using the PR as the hook to actually build and run at least a subset of those measurable outcomes. Automatically. The code base should be done using the classic git pattern whereby the master is running, tested code, and is not modified except when a development cycle is merged back into it. That would happen only when the development was fully validated. This way, master is always as best as it can be made. Dev is the bleeding edge. Cut a release branch from it, iterate until it is working properly, merge up to master, and down to the development again. rinse and repeat

Tja

On Sat, Feb 26, 2022 at 6:07 PM Linas Vepštas @.***> wrote:

OK, I poked around and looked at the various blender files. I believe that when the bone connections are fixed, the eyes and the eyebrows will show up. They're in the file, but disconnected. There seem to be three other problems: (1) the lighting is wrong, she's poorly lit; (2) there's a skin texture, it's missing (3) by default, a bunch of blender controls pop up. For the default view, we want all the blender menus and buttons to be hidden, blocked.

She should not look so ugly, she should look like the screenshots in the main README of this repo. See the bright pink spot on her nose? That bright pink spot is a spotlight, it should be illuminating all of her, she should be all bright pink, instead of grey-toned. The screenshots were taken with the spotlight broken.

The root issue is that blender 2.72 was incompatible with blender 2.69, and so, back then, some of he blend files refused to even load. Now they all load, but all of them load with errors. I'll spend a few more hours poking, see if I can get lucky.

In any of your explorations, have you ever gotten her to come alive (start breathing?) She's not breathing, for me. There's also a menu of animations; have you gotten any of hem to play? Mostly, I'll try to get her rendering, and breathing, and then check all the animations. Its all just python code; how hard can it be, eh?

The geometry.launch file -- do whatever it takes. This is the problem with ROS - its mostly about connecting things to other things, but you have to have a good idea of what you're connecting together, and that can be confusing.

— Reply to this email directly, view it on GitHub https://github.com/opencog/docker/pull/169#issuecomment-1052951168, or unsubscribe https://github.com/notifications/unsubscribe-auth/AB5DUK7Q2R5WSGM2K55XIQTU5GBOZANCNFSM5PLQ2J3A . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

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linas commented 2 years ago

[Breathing]

No! That is the issue, I can't even see how she is supposed to be.

The CYC-normal animation makes her breath. If you explore the blender animation menu, you will see this, and a few other CYC animations; CYC because they are cyclical and run forever. There are also a few dozen other animations for blinking, and so on, and poking at the menu should cause them to play.

geometry.launch

I have no idea. Without reading through what the current exposed API's are, I don't know. The problem is that the API's are scattered through assorted YAML files and python files. I didn't build this stuff; I learned it by grepping through the source code to see what's where. FWIW, there is a a ROS graph-visualizer tool; it automatically shows you what is connected to what in ROS, how many messages per second its sending, and so on. It can help understand what is going on.

learn

Thanks!

Jenkins

The atomspace code has almost 200 unit tests, and they are all run automatically for each pull request. The green (red) buttons at the top of the README files show the test status for the code that is in git. Many/most of the other git repos have unit tests, too. (including the learn repo).

The Eva pipeline had no unit tests, but even if it had, everyone would have ignored them. Being test-driven is a cultural mode. A lot of leaders who are in a hurry to get someplace do not believe in stability and test-driven development. It's like a car without brakes: "We're going to be accelerating all the way! Why would we need brakes?" and it just gets hard to explain.

linas commented 2 years ago

I spent the last 3 hours in blender. The eyeballs are in there, the teeth are there, you can see them in x-ray view. The textures that should be mapped to her eyebrows, eyes and skin are showing up in the "orphan data" list (the broken-heart icon). I could not figure out how to connect them up.

All of the animations are also in the "orphan data" list. I did find a menu with "poses", but when I try to run them, I see a clipped error message that seems to say it doesn't want to run untrusted python code, or something like that. I can't see the full error messages, its clipped. I could not find the error log file anywhere ...

mwigzell commented 2 years ago

ah, that is encouraging. Yes, I did see the "mesh" of the eye sockets and mouth. Maybe not all is lost, but it is going to take a "Phd thesis" to recover it. I'm going to try loading it up in 2.79 from the link I sent you, maybe it loads better there.

On Sun, Feb 27, 2022 at 10:24 AM Linas Vepštas @.***> wrote:

I spent the last 3 hours in blender. The eyeballs are in there, the teeth are there, you can see them in x-ray view. The textures that should be mapped to her eyebrows, eyes and skin are showing up in the "orphan data" list (the broken-heart icon). I could not figure out how to connect them up.

All of the animations are also in the "orphan data" list. I did find a menu with "poses", but when I try to run them, I see a clipped error message that seems to say it doesn't want to run untrusted python code, or something like that. I can't see the full error messages, its clipped. I could not find the error log file anywhere ...

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mwigzell commented 2 years ago

Hi Linas, I got somewhere I think, see attached file. This is the Sophia.blend file loaded in blender 2.76 which I pulled down from here: https://download.blender.org/release/Blender2.76/ I did this on my native ARCH because that blender won't run from within LXC. This is frustrating. Because the rigControl is being engaged (I ran it from within the 'blender_api' folder, and using autostart.py: /tmp/blender-2.76b-linux-glibc211-x86_64/blender -y Sophia.blend -P autostart.py It has one cyclic dependency, but otherwise no complaints from blender.

read blend: /home/mark/Dev/blender_api/Sophia.blend Dependency cycle detected: deform depends on control through Child Of. control depends on deform through Locked Track.

Unfortunately, because I don't have the ROS etc. environment on my local ARCH it eventually finds a module it can't load:

File "/home/mark/Dev/blender_api/rigControl/CommandListener.py", line 111, in load_cmd_sources import pkg_resources ImportError: No module named 'pkg_resources'

So what do we have? An almost running head, using the current Sophia.blend in the current blender_api repo, and loaded with blender 2.76. I had to enable python execution by default. Where does that leave us? Well, stuck in time. I might be able to start working up the blender versions like the blender contact suggested, loading up the head, writing it out, bumping the blender version, rinse and repeat. That would work as long as blender is providing an upgrade path via their versions. But its a long slow process.

On Sat, Feb 26, 2022 at 6:07 PM Linas Vepštas @.***> wrote:

OK, I poked around and looked at the various blender files. I believe that when the bone connections are fixed, the eyes and the eyebrows will show up. They're in the file, but disconnected. There seem to be three other problems: (1) the lighting is wrong, she's poorly lit; (2) there's a skin texture, it's missing (3) by default, a bunch of blender controls pop up. For the default view, we want all the blender menus and buttons to be hidden, blocked.

She should not look so ugly, she should look like the screenshots in the main README of this repo. See the bright pink spot on her nose? That bright pink spot is a spotlight, it should be illuminating all of her, she should be all bright pink, instead of grey-toned. The screenshots were taken with the spotlight broken.

The root issue is that blender 2.72 was incompatible with blender 2.69, and so, back then, some of he blend files refused to even load. Now they all load, but all of them load with errors. I'll spend a few more hours poking, see if I can get lucky.

In any of your explorations, have you ever gotten her to come alive (start breathing?) She's not breathing, for me. There's also a menu of animations; have you gotten any of hem to play? Mostly, I'll try to get her rendering, and breathing, and then check all the animations. Its all just python code; how hard can it be, eh?

The geometry.launch file -- do whatever it takes. This is the problem with ROS - its mostly about connecting things to other things, but you have to have a good idea of what you're connecting together, and that can be confusing.

— Reply to this email directly, view it on GitHub https://github.com/opencog/docker/pull/169#issuecomment-1052951168, or unsubscribe https://github.com/notifications/unsubscribe-auth/AB5DUK7Q2R5WSGM2K55XIQTU5GBOZANCNFSM5PLQ2J3A . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

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mwigzell commented 2 years ago

Hey Linas! I realized that the 2.76 blender was displaying the gesture menu on the right.I attached a screenshot. I was able to try out the gestures! Hey they are really good. Very impressive I have to say. It took me a bit of prodding to get it going, I thought that because my environment is not set up, it wouldn't do the gestures, but hey, that is fantastic! So I think I need to spend some time, fix the one cyclic dependency she's got. Then see if I do the load and save thing and try and get the image up to the latest that way. I think now that I've seen it working, it is very worth trying to get it back. It obviously is the result of a labor of love. I know that it is just puppeteering, but somehow I find it very important for CHI - computer human interaction. It will foster much acceptance. Of course, it needs to have a genuine emotional sentience behind it. I don't believe intelligence has to be human like necessarily, but at the gut level, it is very compelling. I'm going to see again if I can get the 2.76 running in Docker, that would also be a BIG step forward. The last Docker / blender combo I tried didn't work very well, but maybe this time will yield different results. Cheers! --Mark

On Sat, Feb 26, 2022 at 6:07 PM Linas Vepštas @.***> wrote:

OK, I poked around and looked at the various blender files. I believe that when the bone connections are fixed, the eyes and the eyebrows will show up. They're in the file, but disconnected. There seem to be three other problems: (1) the lighting is wrong, she's poorly lit; (2) there's a skin texture, it's missing (3) by default, a bunch of blender controls pop up. For the default view, we want all the blender menus and buttons to be hidden, blocked.

She should not look so ugly, she should look like the screenshots in the main README of this repo. See the bright pink spot on her nose? That bright pink spot is a spotlight, it should be illuminating all of her, she should be all bright pink, instead of grey-toned. The screenshots were taken with the spotlight broken.

The root issue is that blender 2.72 was incompatible with blender 2.69, and so, back then, some of he blend files refused to even load. Now they all load, but all of them load with errors. I'll spend a few more hours poking, see if I can get lucky.

In any of your explorations, have you ever gotten her to come alive (start breathing?) She's not breathing, for me. There's also a menu of animations; have you gotten any of hem to play? Mostly, I'll try to get her rendering, and breathing, and then check all the animations. Its all just python code; how hard can it be, eh?

The geometry.launch file -- do whatever it takes. This is the problem with ROS - its mostly about connecting things to other things, but you have to have a good idea of what you're connecting together, and that can be confusing.

— Reply to this email directly, view it on GitHub https://github.com/opencog/docker/pull/169#issuecomment-1052951168, or unsubscribe https://github.com/notifications/unsubscribe-auth/AB5DUK7Q2R5WSGM2K55XIQTU5GBOZANCNFSM5PLQ2J3A . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

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