Esperant.O is a beta software plug-in developed by Brandon Kruysman and Jonathan Proto that bridges the gap between designers and industrial robotics. Using the software platform Maya by Autodesk, esperant.O affords the ability to generate g-code for the movement control of Stäubli robots while providing commonly used animation techniques for designers.

The ability to use the features inherent in Maya, such as constraint models, motion path control, and the abundance of other parametric features, opens up an immense range of possibilities and new applications for industrial robotics and design. Using standard animation features, designers can perform synchronous tasks with ease using multiple robots, with control over timing, speed, and acceleration.

Development Team:

Brandon Kruysman [lead programmer, developer]
Jonathan Proto [developer]
Curime Batliner [developer]

esperant.O is a plug-in written in python for Maya, a 3d animation software developed by Autodesk. The current version of esperant.O supports Stäubli Robots and the VAL3 programming language.




///// NEWS

2012-10-18 : ACADIA Workshop: 6 Axis Fabrication (Kruysman, Proto)
2012-09-09 : SCI-Arc Seminar: Eye, Robot (Kruysman, Proto)
2012-09-09 : SCI-Arc Studio: Real to Real (Testa, Kruysman, Proto)
2012-08-08 : ESTm Studio Final (Spina)
2012-05-14 : ESTm Summer Workshop: Synchronous Dissections
2012-02-03 : Session 03 of Python BYTES in the SCI-Arc Robot House
2012-02-02 : RoCoCo Lecture : Exercise 02
2012-01-29 : Synn Labs Workshop : Computer Vision and Kinect Hacking
2012-01-12 : Updated Downloads for current build of Esperant.O Robotics
2011-12-03 : DorkBot SoCal at SCI-Arc Robot House




///// Catalog of Student Work

Please visit SCI-Arc ESTm post graduate website (link)

[2012 Summer] Artificial Clouds: Spina, Atwood, Kruysman, Proto (link)
[2011-2012] Real-Time: Testa, Kruysman, Proto (link)
[2012 Spring] RoCoCo: Wesier, Kruysman, Proto (link)

///// ESPERANTO-ROBOTICS TUTORIALS

****This is very much a work-in-progress, tutorials will be updated/changed on a regular basis.

ROBOTIC ANIMATION TECHNIQUES
Tutorial: Basic Keyframing
The simplest way to animate a robot in Maya is to use keyframes. A keyframe records the value of an attribute at a point in time on the timeline. When two keyframes are set for an attribute at different points in time, Maya interpolates the value between the two keyframes on the timeline, and the result is an animated robot. Keyframes can be set on almost any attribute in Maya.


2012-01-09_BasicKeyframing-IK_TemplateFile (Maya)
2012-01-09_BasicKeyframing-IK (PDF)


Tutorial: Motion Path (curve)
In this section, we will learn how to attach the tool center point of the robot onto a curve. This will provide a path for the robot to move along. First, we will use a constant orientation (planar).


2012-01-09_MotionPath-curve_TemplateFile (Maya)
2012-01-09_MotionPath-curve (PDF)

Tutorial: Motion Path (curve and surface)


2012-01-09_MotionPath-srf_TemplateFile (Maya)
2012-01-09_MotionPath-srf (PDF)

I/O INTEGRATION
Tutorial: IO Integration
Esperant.O[1] also has the ability to translate information regarding the control of end arm tooling. In this tutorial, we will attach an pneumatic end arm tool (airbrush) to a robot, and simulate the turning on and off of that tool to a specific keyframe or moment in time. In the end, the user will have the ability to keyframe the valve in Maya, and have all necessary information translate to the actual robot. This allows for a unique relationship and potential for designers to switch quickly between digital(simulation) and physical space.


2012-01-09_IO_A_TemplateFile (Maya)
2012-01-09_IO (PDF)

Tutorial: Coding IO Functionality
In this tutorial, we will learn how to write a small script that keyframes certain attributes in your animation. This simple exercise should show you the basic concept of keyframing objects through python scripting.


2012-01-09_IO_B_TemplateFile (Maya)
2012-01-09_IO-Py (PDF)

SYNCHRONOUS ROBOTICS
Tutorial: [2] Robot Collaboration
Synchronous behavior is not limited to robotic motion. The following sections begin to deal with the real complexities facing the SCI-Arc Robot House. Networked Manufacturing strategies start to include not only robotic movement, but end arm tooling, as well as any other machines included in the robotic cell. The coordination of all of these variables requires a higher level of control.

COMING SOON!

Tutorial: ¡charla!
¡charla! gives the designer the ability to specify certain points of the animation that each robot in the cell will communicate to eachother, where timing and positioning are extremely crucial. At these checkpoints, the robots will send a signal (or cue) to the server, and the server will then send a signal back when it has confirmed that every robot has arrived. This will insure that the robots are back on time and share the same keyframe.


2012-01-09_charla_TemplateFile (Maya)
2012-01-09_charla (PDF)

///// DOWNLOADS

ROBOTIC CELL - 3D MODEL
***These 3D models are the latest Maya models developed for the esperant.O platform. They contain geometry that is named a specific way in reference to the plug-in.

2012-01-22_Spring_RoboticCell_Version_09_IK (Maya)

CUSTOM HUD
***This is the latest heads up display developed for the esperant.O[1] platform. The script will reference your model, and display relevant information in regards to your animation.

2012-01-08_HUD_esperantO1 (Py)
2012-01-08_HUD_esperantO1_off (Py)
2012-01-08_HUD_esperantO1 (PDF)



///// SCI-Arc Fall '12' : "Eye, Robot"

Instructors: Brandon Kruysman, Jonathan Proto

Seminar Description: “Eye Robot” focuses on the intersection of animation, robotics, and cinematography. It focuses on vision in robotics, not only as a representational tool, but also as an analytical device for feedback.
This course will focus on robotic motion control as a creative medium, mainly through the use of the custom robotic animation software platform called esperant.O. It will explore a new space of dynamic architectural representation through the precise tracking and positioning of objects in motion. It is highly dependent on the synchronization of the camera and the motion of multiple robots in space. The seminar will explore this new mixed-reality space and its implications in architectural representation and speculation. In a series of exercises, students will produce short videos and animations that explore the concept of synchronicity and robot coordination in a variety of camera techniques that combine both image capture with image analysis and reconstruction.

EX01: Character Rigging and Skeletal Control

TP80 Base Model
TP80_COMPLETE
TP80 expressions

EX02: The Moving Image and Robot Motion Control

EX02: Robotic Cell_IK
EX02: Robotic Cell_FK
EX02: PY pathVisualization

EX03: The Moving Image and Robot Motion Control pt. II

files TBD

EX04: Augmented Fabrication

files TBD



///// SCI-Arc Fall '12' : "Real to Reel"

Instructors: Peter Testa, Brandon Kruysman, Jonathan Proto

EX01: Intro to (Digital) Robotic Cell
Robot House Cell
Camera End Arm Tool