http://mediawiki.isr.tecnico.ulisboa.pt/api.php?action=feedcontributions&feedformat=atom&user=AjainISRWiki - User contributions [en]2026-06-20T04:42:43ZUser contributionsMediaWiki 1.41.0http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICubHealthCheckupWeek_03_2011&diff=3605ICubHealthCheckupWeek 03 20112011-03-11T19:34:09Z<p>Ajain: March 7, 2011</p>
<hr />
<div>This page contains the results of all tests run on the iCub between March 2nd 2011 and March 8th 2011.<br />
<br />
<font color=red>Unsolved problems are highlighted in red, </font><font color=green>solved problems in green.</font><br />
<br />
= March 2nd 2011, 15:00 =<br />
== Demo 1: old ball reaching ==<br />
* pc104 started normally.<br />
* cameras (camerasSetForTracking.sh) started normally and operated at ~30fps. <br />
* iCubInterface (iCuyebInterface --from iCubInterfaceSimple.ini) started normally and reported zero errors.<br />
* demoReach_LeftHand_RightEye.sh started normally,<font color=red> but images were shown at ~26fps instead of 30. The tracker module is shown as using 107% of the computing power of a core, this should be under 100%.tracking works, but is not perfect: even when the ball is still, the likelihood is not over the threshold (yellow ring instead of green ring). There is evident overshooting in the movement of the eyes and of the head. '''All these problems might be caused by the fact that in this demo we are using a hacked version of a module, because it is not in the main branch of the repository'''.</font> <font color=green>'''The speed of the arm is normal in this configuration. '''</font><br />
* turning off the iCubInterface worked well, the robot was parked normally.<br />
<br />
== Demo 2 yoga with non-cartesian iCubInterface ==<br />
* iCubInterface (iCuyebInterface --from iCubInterfaceSimple.ini) started normally and reported zero errors.<br />
* running " iCubDemoY3 --config /app/demoy3/fullBody.txt" reports error: "Problem connecting to /icub/right_leg/rpc:i, is the remote device available?" (plus some others). The legs were not enabled by the configuration files on pc104: <br />
/usr/local/src/robot/iCub/app/iCubLisboa01/conf/iCubInterfaceSimple.ini<br />
/usr/local/src/robot/iCub/app/iCubLisboa01/conf/icubSafe.ini (specifically in this one here)<br />
/usr/local/src/robot/iCub/app/iCubLisboa01/conf/icub_legs_safe.ini<br />
enabling the legs produced this error (repeatedly for some time, then it disappeared) in the iCubInterface:<br />
Id:5 T:1 R:2 Id:7 T:1 R:2 <br />
pcan [3] have not heard from board 6 (channel 0) since 72.10 seconds<br />
pcan [3] have not heard from board 6 (channel 1) since 72.10 seconds<br />
pcan [3] have not heard from board 8 (channel 0) since 72.10 seconds<br />
pcan [3] have not heard from board 8 (channel 1) since 72.10 seconds<br />
pcan [3] have not heard from board 9 (channel 0) since 72.10 seconds<br />
pcan [3] have not heard from board 9 (channel 1) since 72.10 seconds<br />
pcan [3] have not heard from board 10 (channel 0) since 72.10 seconds<br />
pcan [3] have not heard from board 10 (channel 1) since 72.10 seconds<br />
pcan [3] joint 2, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 3, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 6, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 7, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 8, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 9, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 10, warning not enough encoder messages (received 0 msgs)<br />
pcan [3] joint 11, warning not enough encoder messages (received 0 msgs)<br />
LEGSCALIB::Timeout on joint 6 while going to zero!<br />
<br />
The yoga at this point starts and works well with head, torso and arms, while the legs are still. The fingers (pinky and fourth finger) move at an acceptable velocity. robotMotorGui starts, but the legs don't report any information and cannot be moved.<br />
* Stopping the iCubInterface takes a long time because the legs don't park, but eventually succeeds.<br />
* Starting the iCubInterface again leads to some timeout errors on the legs, that I couldn't write down. The yoga started, using the legs, but not bending the left knee.<br />
[[Image:broken_knee.jpg]]<br />
* Stopping the iCubInterface still takes a long time.<br />
* Starting the iCubInterface for the third time gives same timeout errors as in trial #2: "LEGSCALIB::Timeout on joint 2 while going to zero!<br />
" "LEGSCALIB::Timeout on joint 3 while going to zero!" "LEGSCALIB::Timeout on joint 4 while going to zero!" and "LEGSCALIB::Timeout on joint 5 while going to zero!".<br />
yoga behaves the same as in trial #2.<br />
<br><br />
* something was disconnected on the board controlling the left knee of the iCub, now <font color=green>Ricardo fixed it </font>and yoga works like a charm.<br />
still, the iCubInterface complains:<br />
pcan [0] have not heard from board 5 (channel 0) since 93.35 seconds<br />
pcan [0] have not heard from board 5 (channel 1) since 93.35 seconds<br />
pcan [0] have not heard from board 6 (channel 0) since 93.37 seconds<br />
pcan [0] have not heard from board 6 (channel 1) since 93.37 seconds<br />
pcan [0] joint 6, warning not enough encoder messages (received 0 msgs)<br />
pcan [0] joint 7, warning not enough encoder messages (received 0 msgs)<br />
pcan [0] joint 8, warning not enough encoder messages (received 0 msgs)<br />
pcan [0] joint 9, warning not enough encoder messages (received 0 msgs)<br />
in the robotMotorGui you can change the position of the torso joints, but the robot does not move. <font color=red>Everything else is moving OK, but the left hand last two fingers: they move with a lag and very slowly.</font><br />
After a while the errors disappeared (without restarting the iCubInterface) and the robotMotorGui was able to control the robot. The problems with the last two fingers of the left hand persisted. Interestingly, opening the fingers with the gui slider is much slower than using the "home all" button. Is this an issue related to open-loop control vs closed-loop control?<br />
After waiting a bit more, the torso problem came back.<br />
<font color=green>This problem was fixed by Ricardo, see day 04.</font><br />
<br />
= March 3nd 2011, 15:00 =<br />
<font color=red>1 - PC104 sometimes when turning on is not in the network (not pingable)</font><br />
<br />
== DemoGrasp ==<br />
* Arm movement very slow<br />
* Still has overshoot with the eyes and head when moving the ball.<br />
<br />
= March 4th 2011, 16:00 =<br />
The processes for the grasping demo had to be run on iCubBrain2, as iCubBrain1 was not responding. This problem was later <font color=green>solved by restarting iCubBrain1</font>, which had got stuck in a kernel panic situation.<br />
<br />
[[Image:kernelPanic.jpg]]<br />
<br />
There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. <font color=red> The arm moves very slowly. </font>The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal. <font color=green> Ugo Pattacini said the movement of the head is intended to be like that.</font><br />
<br />
[[Image:headRoll.jpg]] See the video at [http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov].<br />
<br />
Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.<br />
<br />
= March 7th 2011, 15:00 =<br />
* 2011-03-07: iCubInterface is shutting down gracefully. Was due to zombie processes (iKinCartesianSolvers on the icubbrain2). [The problem was trivial but I am not deleting these posts as it might help in troubleshooting in the future]. By the way, there are still some Can Errors on Boards 1 and 6.<br />
* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).<br />
From the iCubInterface:-<br />
pcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.03[ms]<br />
Can Errors -- Device Tx:1 Rx:0 TxOvf: 1 RxOvf BusOff: 0 -- Driver Fifo Tx:0 Rx:0<br />
pcan [0] printing boards errors:<br />
None<br />
pcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.04[ms]<br />
Can Errors -- Device Tx:2 Rx:0 TxOvf: 2 RxOvf BusOff: 81 -- Driver Fifo Tx:0 Rx:81<br />
pcan [2] printing boards errors:<br />
None<br />
<br />
* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),<br />
* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
<br />
= March 9th 2011, 15:00 =<br />
Trying to understand what causes the arm to move slowly in the grasping demo.<br />
I run the reaching demo, the arm was moving normally. I kept the iCubInterface on, started the Cartesian solvers for the arms and started the grasping demo. <font color=red>The arm moves slowly. When the ball is recognized, the Cartesian solver uses 101% of a CPU core. When the ball disappears, the solver uses only a fraction of that, but the arm still moves slowly.</font><br />
<br />
= Next demos =<br />
* try out the attention demo<br />
* the modules written by Martim should be committed to the repository and integrated in the grasp demo</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=3596ICub logbook2011-03-07T17:09:34Z<p>Ajain: </p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== 2011 ==<br />
* 2011-03-07: iCubInterface is shutting down gracefully. Was due to zombie processes (iKinCartesianSolvers on the icubbrain2). [The problem was trivial but I am not deleting these posts as it might help in troubleshooting in the future]. By the way, there are still some Can Errors on Boards 1 and 6.<br />
* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).<br />
From the iCubInterface:-<br />
pcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.03[ms]<br />
Can Errors -- Device Tx:1 Rx:0 TxOvf: 1 RxOvf BusOff: 0 -- Driver Fifo Tx:0 Rx:0<br />
pcan [0] printing boards errors:<br />
None<br />
pcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.04[ms]<br />
Can Errors -- Device Tx:2 Rx:0 TxOvf: 2 RxOvf BusOff: 81 -- Driver Fifo Tx:0 Rx:81<br />
pcan [2] printing boards errors:<br />
None<br />
<br />
* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),<br />
* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
* 2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.<br />
* 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)<br />
* 2011-01-05: Chico fixed<br />
<br />
== 2010 ==<br />
* 2010-12-30: Chico's right arm fixed; problem with torso though<br />
* 2010-12-27: Chico's right arm broken<br />
* 2010-11-2x: updates of [[Chico3 laptop machine configuration | chico3]], [[pc104#Repositories_on_icubsrv_laptop | icubsrv (-> pc104)]], [[iCubBrain server configuration | icubbrains]], [[Cortex | cortexes]]<br />
* 2010-11-18: updated the icubbrains OS<br />
* 2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. <code>iCubInterface</code> can be executed safely with any config file.<br />
* 2010-10-08: left arm of Chico broken. For the time being, disable it by running <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
* 2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini</code><br />
* 2010-07-14: updated yarp and iCub on chico3<br />
* 2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of <code>/usr/local/lib/libcxcore.a</code> for the PNL to work.<br />
* 2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive]. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling. <br />
* 2010-06-02: added the following line in <code>$ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini</code>, under the groups <code>CAMERA_CALIBRATION_LEFT</code> and <code>_RIGHT</code>. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:<br />
fps 30<br />
* 2010-04-08: updated yarp and iCub on pc104 ([[pc104#Repositories on icubsrv laptop|instructions]]); updated icubbrains to enable the Cartesian Interface<br />
* 2010-04-01: updated yarp and iCub on the icubbrains<br />
* 2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: <code>$ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini</code><br />
* 2010-02-04: updated yarp and iCub on: chico3, icubsrv (for [[pc104]]), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.<br />
<br />
== 2009 ==<br />
<br />
* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being<br />
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).<br />
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].<br />
* 2009-12-09: updated YARP and iCub on [[Chico3 laptop machine configuration | chico3]] (current issue: openvislab libraries, Christian is looking into it) and on [[Cortex | cortex1-5]] (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)<br />
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.<br />
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.<br />
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code><br />
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)<br />
* 2009-09-18: updated controllers firmware. (alex)<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this was fixed by setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=3595ICub logbook2011-03-07T17:04:40Z<p>Ajain: </p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== 2011 ==<br />
* 2011-03-07: iCubInterface is shutting down gracefully. Was due to zombie processes (iKinCartesianSolvers on the icubbrain2). [The problem was trivial but I am not deleting these posts as it might help in troubleshooting in the future].<br />
* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).<br />
From the iCubInterface:-<br />
pcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.03[ms]<br />
Can Errors -- Device Tx:1 Rx:0 TxOvf: 1 RxOvf BusOff: 0 -- Driver Fifo Tx:0 Rx:0<br />
pcan [0] printing boards errors:<br />
None<br />
pcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.04[ms]<br />
Can Errors -- Device Tx:2 Rx:0 TxOvf: 2 RxOvf BusOff: 81 -- Driver Fifo Tx:0 Rx:81<br />
pcan [2] printing boards errors:<br />
None<br />
<br />
* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),<br />
* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
* 2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.<br />
* 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)<br />
* 2011-01-05: Chico fixed<br />
<br />
== 2010 ==<br />
* 2010-12-30: Chico's right arm fixed; problem with torso though<br />
* 2010-12-27: Chico's right arm broken<br />
* 2010-11-2x: updates of [[Chico3 laptop machine configuration | chico3]], [[pc104#Repositories_on_icubsrv_laptop | icubsrv (-> pc104)]], [[iCubBrain server configuration | icubbrains]], [[Cortex | cortexes]]<br />
* 2010-11-18: updated the icubbrains OS<br />
* 2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. <code>iCubInterface</code> can be executed safely with any config file.<br />
* 2010-10-08: left arm of Chico broken. For the time being, disable it by running <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
* 2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini</code><br />
* 2010-07-14: updated yarp and iCub on chico3<br />
* 2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of <code>/usr/local/lib/libcxcore.a</code> for the PNL to work.<br />
* 2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive]. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling. <br />
* 2010-06-02: added the following line in <code>$ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini</code>, under the groups <code>CAMERA_CALIBRATION_LEFT</code> and <code>_RIGHT</code>. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:<br />
fps 30<br />
* 2010-04-08: updated yarp and iCub on pc104 ([[pc104#Repositories on icubsrv laptop|instructions]]); updated icubbrains to enable the Cartesian Interface<br />
* 2010-04-01: updated yarp and iCub on the icubbrains<br />
* 2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: <code>$ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini</code><br />
* 2010-02-04: updated yarp and iCub on: chico3, icubsrv (for [[pc104]]), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.<br />
<br />
== 2009 ==<br />
<br />
* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being<br />
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).<br />
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].<br />
* 2009-12-09: updated YARP and iCub on [[Chico3 laptop machine configuration | chico3]] (current issue: openvislab libraries, Christian is looking into it) and on [[Cortex | cortex1-5]] (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)<br />
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.<br />
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.<br />
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code><br />
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)<br />
* 2009-09-18: updated controllers firmware. (alex)<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this was fixed by setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=3594ICub logbook2011-03-07T16:51:42Z<p>Ajain: </p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== 2011 ==<br />
* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).<br />
From the iCubInterface:-<br />
pcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.03[ms]<br />
Can Errors -- Device Tx:1 Rx:0 TxOvf: 1 RxOvf BusOff: 0 -- Driver Fifo Tx:0 Rx:0<br />
pcan [0] printing boards errors:<br />
None<br />
pcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.04[ms]<br />
Can Errors -- Device Tx:2 Rx:0 TxOvf: 2 RxOvf BusOff: 81 -- Driver Fifo Tx:0 Rx:81<br />
pcan [2] printing boards errors:<br />
None<br />
<br />
* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),<br />
* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
* 2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.<br />
* 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)<br />
* 2011-01-05: Chico fixed<br />
<br />
== 2010 ==<br />
* 2010-12-30: Chico's right arm fixed; problem with torso though<br />
* 2010-12-27: Chico's right arm broken<br />
* 2010-11-2x: updates of [[Chico3 laptop machine configuration | chico3]], [[pc104#Repositories_on_icubsrv_laptop | icubsrv (-> pc104)]], [[iCubBrain server configuration | icubbrains]], [[Cortex | cortexes]]<br />
* 2010-11-18: updated the icubbrains OS<br />
* 2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. <code>iCubInterface</code> can be executed safely with any config file.<br />
* 2010-10-08: left arm of Chico broken. For the time being, disable it by running <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
* 2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini</code><br />
* 2010-07-14: updated yarp and iCub on chico3<br />
* 2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of <code>/usr/local/lib/libcxcore.a</code> for the PNL to work.<br />
* 2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive]. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling. <br />
* 2010-06-02: added the following line in <code>$ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini</code>, under the groups <code>CAMERA_CALIBRATION_LEFT</code> and <code>_RIGHT</code>. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:<br />
fps 30<br />
* 2010-04-08: updated yarp and iCub on pc104 ([[pc104#Repositories on icubsrv laptop|instructions]]); updated icubbrains to enable the Cartesian Interface<br />
* 2010-04-01: updated yarp and iCub on the icubbrains<br />
* 2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: <code>$ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini</code><br />
* 2010-02-04: updated yarp and iCub on: chico3, icubsrv (for [[pc104]]), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.<br />
<br />
== 2009 ==<br />
<br />
* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being<br />
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).<br />
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].<br />
* 2009-12-09: updated YARP and iCub on [[Chico3 laptop machine configuration | chico3]] (current issue: openvislab libraries, Christian is looking into it) and on [[Cortex | cortex1-5]] (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)<br />
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.<br />
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.<br />
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code><br />
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)<br />
* 2009-09-18: updated controllers firmware. (alex)<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this was fixed by setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=3593ICub logbook2011-03-07T16:45:44Z<p>Ajain: iCubInterface not shutting down gracefully</p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== 2011 ==<br />
* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).<br />
* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),<br />
* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
* 2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.<br />
* 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)<br />
* 2011-01-05: Chico fixed<br />
<br />
== 2010 ==<br />
* 2010-12-30: Chico's right arm fixed; problem with torso though<br />
* 2010-12-27: Chico's right arm broken<br />
* 2010-11-2x: updates of [[Chico3 laptop machine configuration | chico3]], [[pc104#Repositories_on_icubsrv_laptop | icubsrv (-> pc104)]], [[iCubBrain server configuration | icubbrains]], [[Cortex | cortexes]]<br />
* 2010-11-18: updated the icubbrains OS<br />
* 2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. <code>iCubInterface</code> can be executed safely with any config file.<br />
* 2010-10-08: left arm of Chico broken. For the time being, disable it by running <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
* 2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini</code><br />
* 2010-07-14: updated yarp and iCub on chico3<br />
* 2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of <code>/usr/local/lib/libcxcore.a</code> for the PNL to work.<br />
* 2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive]. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling. <br />
* 2010-06-02: added the following line in <code>$ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini</code>, under the groups <code>CAMERA_CALIBRATION_LEFT</code> and <code>_RIGHT</code>. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:<br />
fps 30<br />
* 2010-04-08: updated yarp and iCub on pc104 ([[pc104#Repositories on icubsrv laptop|instructions]]); updated icubbrains to enable the Cartesian Interface<br />
* 2010-04-01: updated yarp and iCub on the icubbrains<br />
* 2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: <code>$ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini</code><br />
* 2010-02-04: updated yarp and iCub on: chico3, icubsrv (for [[pc104]]), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.<br />
<br />
== 2009 ==<br />
<br />
* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being<br />
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).<br />
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].<br />
* 2009-12-09: updated YARP and iCub on [[Chico3 laptop machine configuration | chico3]] (current issue: openvislab libraries, Christian is looking into it) and on [[Cortex | cortex1-5]] (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)<br />
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.<br />
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.<br />
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code><br />
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)<br />
* 2009-09-18: updated controllers firmware. (alex)<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this was fixed by setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=3592ICub logbook2011-03-07T16:23:09Z<p>Ajain: iCubInterface random errors and right arm troubles</p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== 2011 ==<br />
* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),<br />
* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
* 2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.<br />
* 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)<br />
* 2011-01-05: Chico fixed<br />
<br />
== 2010 ==<br />
* 2010-12-30: Chico's right arm fixed; problem with torso though<br />
* 2010-12-27: Chico's right arm broken<br />
* 2010-11-2x: updates of [[Chico3 laptop machine configuration | chico3]], [[pc104#Repositories_on_icubsrv_laptop | icubsrv (-> pc104)]], [[iCubBrain server configuration | icubbrains]], [[Cortex | cortexes]]<br />
* 2010-11-18: updated the icubbrains OS<br />
* 2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. <code>iCubInterface</code> can be executed safely with any config file.<br />
* 2010-10-08: left arm of Chico broken. For the time being, disable it by running <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
* 2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini</code><br />
* 2010-07-14: updated yarp and iCub on chico3<br />
* 2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of <code>/usr/local/lib/libcxcore.a</code> for the PNL to work.<br />
* 2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive]. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling. <br />
* 2010-06-02: added the following line in <code>$ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini</code>, under the groups <code>CAMERA_CALIBRATION_LEFT</code> and <code>_RIGHT</code>. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:<br />
fps 30<br />
* 2010-04-08: updated yarp and iCub on pc104 ([[pc104#Repositories on icubsrv laptop|instructions]]); updated icubbrains to enable the Cartesian Interface<br />
* 2010-04-01: updated yarp and iCub on the icubbrains<br />
* 2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: <code>$ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini</code><br />
* 2010-02-04: updated yarp and iCub on: chico3, icubsrv (for [[pc104]]), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.<br />
<br />
== 2009 ==<br />
<br />
* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being<br />
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).<br />
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].<br />
* 2009-12-09: updated YARP and iCub on [[Chico3 laptop machine configuration | chico3]] (current issue: openvislab libraries, Christian is looking into it) and on [[Cortex | cortex1-5]] (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)<br />
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.<br />
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.<br />
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code><br />
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)<br />
* 2009-09-18: updated controllers firmware. (alex)<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this was fixed by setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=3590ICub logbook2011-03-07T15:45:43Z<p>Ajain: March 7, 2011: right arm broken and iCubInterface</p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== 2011 ==<br />
* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10<br />
* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted<br />
* 2011-03-07: right arm fixed<br />
* 2011-03-07: right arm broken (cable broken near the elbow)<br />
* 2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.<br />
* 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)<br />
* 2011-01-05: Chico fixed<br />
<br />
== 2010 ==<br />
* 2010-12-30: Chico's right arm fixed; problem with torso though<br />
* 2010-12-27: Chico's right arm broken<br />
* 2010-11-2x: updates of [[Chico3 laptop machine configuration | chico3]], [[pc104#Repositories_on_icubsrv_laptop | icubsrv (-> pc104)]], [[iCubBrain server configuration | icubbrains]], [[Cortex | cortexes]]<br />
* 2010-11-18: updated the icubbrains OS<br />
* 2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. <code>iCubInterface</code> can be executed safely with any config file.<br />
* 2010-10-08: left arm of Chico broken. For the time being, disable it by running <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
* 2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: <code>$ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini</code><br />
* 2010-07-14: updated yarp and iCub on chico3<br />
* 2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of <code>/usr/local/lib/libcxcore.a</code> for the PNL to work.<br />
* 2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this [http://www.cmake.org/files/v2.6/cmake-2.6.4-Linux-i386.sh archive]. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling. <br />
* 2010-06-02: added the following line in <code>$ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini</code>, under the groups <code>CAMERA_CALIBRATION_LEFT</code> and <code>_RIGHT</code>. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:<br />
fps 30<br />
* 2010-04-08: updated yarp and iCub on pc104 ([[pc104#Repositories on icubsrv laptop|instructions]]); updated icubbrains to enable the Cartesian Interface<br />
* 2010-04-01: updated yarp and iCub on the icubbrains<br />
* 2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: <code>$ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini</code><br />
* 2010-02-04: updated yarp and iCub on: chico3, icubsrv (for [[pc104]]), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.<br />
<br />
== 2009 ==<br />
<br />
* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being<br />
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).<br />
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].<br />
* 2009-12-09: updated YARP and iCub on [[Chico3 laptop machine configuration | chico3]] (current issue: openvislab libraries, Christian is looking into it) and on [[Cortex | cortex1-5]] (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)<br />
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.<br />
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.<br />
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code><br />
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)<br />
* 2009-09-18: updated controllers firmware. (alex)<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this was fixed by setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICubBrain&diff=3425ICubBrain2011-01-28T21:32:30Z<p>Ajain: Boost</p>
<hr />
<div>In June 2009, we purchased "1U Twin" servers that are to be used as '''iCub Brain''' (hence the name). The box includes a SC808T-980 1U chassis and two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor (8 x E5405 @ 2.00 GHz). They are two independent computers, each one with its hard disk, power button, reset button.<br />
<br />
For full system specifications, go [http://www.supermicro.com/products/launch/Intel/files/seaburg/6015TW-T_6015TW-INF.pdf here (PDF)] or on [http://www.tsunami.pt/produtodescricao.aspx?idtipo=6&idlinha=18&idgama=62&idproduto=389 the entry] on tsunami.pt<br />
<br />
= Current setup =<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! machine<br />
! location<br />
! operating system<br />
! notes<br />
|-<br />
| '''icubbrain1'''<br />
| left half of chassis<br />
| Ubuntu 8.04 LTS '''64bit'''<br />
| <br />
|-<br />
| '''icubbrain2'''<br />
| right half of chassis<br />
| Ubuntu 10.04 LTS '''32bit'''<br />
| has IPOPT 3.9.0 (manual installation according to [http://eris.liralab.it/wiki/Installing_IPOPT this page])<br />
|}<br />
<br />
= Operating system installation =<br />
<br />
The chassis contains two separate machines, each one having two hard disk drive drawers. Next, we will explain how we configured the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same (unless otherwise noted, see above table), with the last octet of the IP address being 42 instead of 41.<br />
<br />
== Boot ==<br />
<br />
We booted the Ubuntu Server CD from an external USB CD drive. Press the 'Del' key if you need to access the BIOS boot order.<br />
<br />
We then had to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).<br />
<br />
== Network interface ==<br />
<br />
icubbrain1 has two Gbit interfaces. First we plugged an Ethernet cable into the first one (which turns on the "'''1'''" led in the chassis front). Then, when Ubuntu asked us to choose between eth0 and eth1, we picked up eth0.<br />
<br />
== Partitions ==<br />
<br />
We chose the 'Guided - use entire disk' option, which yielded the following:<br />
<br />
{| border="1"<br />
|+ Hard disk partitioning<br />
! size !! mountpoint !! filesystem<br />
|-<br />
|133GB || / || ext3<br />
|-<br />
|5GB || || swap<br />
|-<br />
|}<br />
<br />
== Ubuntu installation parameters ==<br />
<br />
* machine name: icubbrain1<br />
* user name: icub<br />
* software selection: OpenSSH<br />
<br />
== Operations after first boot ==<br />
<br />
* choose Main server (rather than Portugal server, which is incomplete) as the software repository. We do this by removing all the "pt." strings from /etc/apt/sources.list<br />
* <code>sudo apt-get update</code>; <code>sudo apt-get upgrade</code><br />
<br />
= Other operations performed =<br />
<br />
== Network configuration ==<br />
<br />
* manually configured the internet connection (<code>/etc/network/interfaces</code>):<br />
auto lo<br />
iface lo inet loopback<br />
<br />
auto eth0<br />
iface eth0 inet static<br />
address 10.10.1.41<br />
netmask 255.255.255.0<br />
network 10.10.1.0<br />
broadcast 10.10.1.255<br />
gateway 10.10.1.254<br />
<br />
* optionally, we can customize the <code>/etc/hosts</code> file [[Chico3 laptop machine configuration#Network|like we did on Chico3]]; this would allow us to quickly access other machines, as in: <code>ping cortex1</code>. Alternatively, we can do nothing and just use <code>ping cortex1.visnet</code> (i.e., attach the <code>.visnet</code> part after a machine name, see [[VisLab network]] for details).<br />
<br />
== Additional packages and environment variables ==<br />
<br />
* Install some required packages:<br />
<br />
sudo apt-get install gcc g++ make subversion ssh libace-dev libgsl0-dev libncurses5-dev gfortran<br />
<br />
* YARP and iCub require CMake version >= 2.6. Therefore,<br />
** on Ubuntu 8.04 (icubbrain1), install CMake manually via http://www.cmake.org<br />
** on Ubuntu 10.04 (icubbrain2), just run <code>sudo apt-get install cmake cmake-curses-gui</code><br />
<br />
* Create a file called ~/.bash_env (used by both interactive and non-interactive sessions, such as commands launched via <code>yarprun</code> from another machine) like this one:<br />
<br />
export YARP_ROOT=/home/icub/yarp2<br />
export YARP_DIR=$YARP_ROOT/build<br />
export ICUB_ROOT=/home/icub/iCub<br />
export ICUB_DIR=$ICUB_ROOT/main/build<br />
export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin # icubbrain1 (older Ubuntu) also needs CMake bin path here<br />
export ICUB_ROBOTNAME=iCubLisboa01<br />
export IPOPT_DIR=/home/icub/Ipopt-3.9.0<br />
<br />
* Then, before the following line of /etc/bash.bashrc<br />
[ -z "$PS1" ] && return<br />
add this:<br />
# per-user environment variables (non-interactive and interactive mode)<br />
source $HOME/.bash_env<br />
<br />
== Subversion ==<br />
<br />
We have set the following parameter in <code>/etc/subversion/config</code>:<br />
store-passwords = no<br />
This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.)<br />
<br />
= Additional software =<br />
<br />
== OpenCV ==<br />
<br />
sudo apt-get install libcv-dev libhighgui-dev libcvaux-dev<br />
<br />
== YARP and iCub ==<br />
<br />
Follow the instructions on the [[RobotCub software]] article. For compilation, do not use <code>sudo make install</code>.<br />
<br />
* Custom yarp2 configuration<br />
CMAKE_BUILD_TYPE Release<br />
CREATE_LIB_MATH<br />
<br />
* Custom iCub configuration<br />
CMAKE_BUILD_TYPE Release<br />
ENABLE_icubmod_cartesiancontrollerclient ON<br />
ENABLE_icubmod_gazecontrollerclient ON<br />
<br />
* iCub compilation<br />
make<br />
make install_applications<br />
<br />
* Final configuration<br />
yarp namespace /icub<br />
<br />
== ARTOOLKITPLUS ==<br />
* Version 2.2.0 (Preferred) [From http://launchpadlibrarian.net/40255072/artoolkitplus-2.2.0.tar.bz2]<br />
* Version 2.1.1 [From Main site: http://studierstube.icg.tu-graz.ac.at/handheld_ar/artoolkitplus.php]<br />
<br />
== BOOST ==<br />
System wide install using package libboost-dev (also installed libboost-doc)<br />
<br />
== MATLAB ==<br />
<br />
MATLAB R2010a was installed on icubbrain1 (requires <code>libxp6</code> package). Currently we are discussing if we want to leave the possibility to run MATLAB on the icubbrains (as well as on cortex), or to leave it only to cortex.<br />
<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICubBrain&diff=3424ICubBrain2011-01-28T20:27:50Z<p>Ajain: /* ARTOOLKITPLUS */</p>
<hr />
<div>In June 2009, we purchased "1U Twin" servers that are to be used as '''iCub Brain''' (hence the name). The box includes a SC808T-980 1U chassis and two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor (8 x E5405 @ 2.00 GHz). They are two independent computers, each one with its hard disk, power button, reset button.<br />
<br />
For full system specifications, go [http://www.supermicro.com/products/launch/Intel/files/seaburg/6015TW-T_6015TW-INF.pdf here (PDF)] or on [http://www.tsunami.pt/produtodescricao.aspx?idtipo=6&idlinha=18&idgama=62&idproduto=389 the entry] on tsunami.pt<br />
<br />
= Current setup =<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! machine<br />
! location<br />
! operating system<br />
! notes<br />
|-<br />
| '''icubbrain1'''<br />
| left half of chassis<br />
| Ubuntu 8.04 LTS '''64bit'''<br />
| <br />
|-<br />
| '''icubbrain2'''<br />
| right half of chassis<br />
| Ubuntu 10.04 LTS '''32bit'''<br />
| has IPOPT 3.9.0 (manual installation according to [http://eris.liralab.it/wiki/Installing_IPOPT this page])<br />
|}<br />
<br />
= Operating system installation =<br />
<br />
The chassis contains two separate machines, each one having two hard disk drive drawers. Next, we will explain how we configured the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same (unless otherwise noted, see above table), with the last octet of the IP address being 42 instead of 41.<br />
<br />
== Boot ==<br />
<br />
We booted the Ubuntu Server CD from an external USB CD drive. Press the 'Del' key if you need to access the BIOS boot order.<br />
<br />
We then had to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).<br />
<br />
== Network interface ==<br />
<br />
icubbrain1 has two Gbit interfaces. First we plugged an Ethernet cable into the first one (which turns on the "'''1'''" led in the chassis front). Then, when Ubuntu asked us to choose between eth0 and eth1, we picked up eth0.<br />
<br />
== Partitions ==<br />
<br />
We chose the 'Guided - use entire disk' option, which yielded the following:<br />
<br />
{| border="1"<br />
|+ Hard disk partitioning<br />
! size !! mountpoint !! filesystem<br />
|-<br />
|133GB || / || ext3<br />
|-<br />
|5GB || || swap<br />
|-<br />
|}<br />
<br />
== Ubuntu installation parameters ==<br />
<br />
* machine name: icubbrain1<br />
* user name: icub<br />
* software selection: OpenSSH<br />
<br />
== Operations after first boot ==<br />
<br />
* choose Main server (rather than Portugal server, which is incomplete) as the software repository. We do this by removing all the "pt." strings from /etc/apt/sources.list<br />
* <code>sudo apt-get update</code>; <code>sudo apt-get upgrade</code><br />
<br />
= Other operations performed =<br />
<br />
== Network configuration ==<br />
<br />
* manually configured the internet connection (<code>/etc/network/interfaces</code>):<br />
auto lo<br />
iface lo inet loopback<br />
<br />
auto eth0<br />
iface eth0 inet static<br />
address 10.10.1.41<br />
netmask 255.255.255.0<br />
network 10.10.1.0<br />
broadcast 10.10.1.255<br />
gateway 10.10.1.254<br />
<br />
* optionally, we can customize the <code>/etc/hosts</code> file [[Chico3 laptop machine configuration#Network|like we did on Chico3]]; this would allow us to quickly access other machines, as in: <code>ping cortex1</code>. Alternatively, we can do nothing and just use <code>ping cortex1.visnet</code> (i.e., attach the <code>.visnet</code> part after a machine name, see [[VisLab network]] for details).<br />
<br />
== Additional packages and environment variables ==<br />
<br />
* Install some required packages:<br />
<br />
sudo apt-get install gcc g++ make subversion ssh libace-dev libgsl0-dev libncurses5-dev gfortran<br />
<br />
* YARP and iCub require CMake version >= 2.6. Therefore,<br />
** on Ubuntu 8.04 (icubbrain1), install CMake manually via http://www.cmake.org<br />
** on Ubuntu 10.04 (icubbrain2), just run <code>sudo apt-get install cmake cmake-curses-gui</code><br />
<br />
* Create a file called ~/.bash_env (used by both interactive and non-interactive sessions, such as commands launched via <code>yarprun</code> from another machine) like this one:<br />
<br />
export YARP_ROOT=/home/icub/yarp2<br />
export YARP_DIR=$YARP_ROOT/build<br />
export ICUB_ROOT=/home/icub/iCub<br />
export ICUB_DIR=$ICUB_ROOT/main/build<br />
export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin # icubbrain1 (older Ubuntu) also needs CMake bin path here<br />
export ICUB_ROBOTNAME=iCubLisboa01<br />
export IPOPT_DIR=/home/icub/Ipopt-3.9.0<br />
<br />
* Then, before the following line of /etc/bash.bashrc<br />
[ -z "$PS1" ] && return<br />
add this:<br />
# per-user environment variables (non-interactive and interactive mode)<br />
source $HOME/.bash_env<br />
<br />
== Subversion ==<br />
<br />
We have set the following parameter in <code>/etc/subversion/config</code>:<br />
store-passwords = no<br />
This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.)<br />
<br />
= Additional software =<br />
<br />
== OpenCV ==<br />
<br />
sudo apt-get install libcv-dev libhighgui-dev libcvaux-dev<br />
<br />
== YARP and iCub ==<br />
<br />
Follow the instructions on the [[RobotCub software]] article. For compilation, do not use <code>sudo make install</code>.<br />
<br />
* Custom yarp2 configuration<br />
CMAKE_BUILD_TYPE Release<br />
CREATE_LIB_MATH<br />
<br />
* Custom iCub configuration<br />
CMAKE_BUILD_TYPE Release<br />
ENABLE_icubmod_cartesiancontrollerclient ON<br />
ENABLE_icubmod_gazecontrollerclient ON<br />
<br />
* iCub compilation<br />
make<br />
make install_applications<br />
<br />
* Final configuration<br />
yarp namespace /icub<br />
<br />
== ARTOOLKITPLUS ==<br />
* Version 2.2.0 (Preferred) [From http://launchpadlibrarian.net/40255072/artoolkitplus-2.2.0.tar.bz2]<br />
* Version 2.1.1 [From Main site: http://studierstube.icg.tu-graz.ac.at/handheld_ar/artoolkitplus.php]<br />
<br />
== MATLAB ==<br />
<br />
MATLAB R2010a was installed on icubbrain1 (requires <code>libxp6</code> package). Currently we are discussing if we want to leave the possibility to run MATLAB on the icubbrains (as well as on cortex), or to leave it only to cortex.<br />
<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICubBrain&diff=3423ICubBrain2011-01-28T20:27:36Z<p>Ajain: Added a folder called libraries and inside the folder ARToolKitPlus</p>
<hr />
<div>In June 2009, we purchased "1U Twin" servers that are to be used as '''iCub Brain''' (hence the name). The box includes a SC808T-980 1U chassis and two twin X7DWT serverboards. Each of the two boards hosts an Intel Xeon 8-core processor (8 x E5405 @ 2.00 GHz). They are two independent computers, each one with its hard disk, power button, reset button.<br />
<br />
For full system specifications, go [http://www.supermicro.com/products/launch/Intel/files/seaburg/6015TW-T_6015TW-INF.pdf here (PDF)] or on [http://www.tsunami.pt/produtodescricao.aspx?idtipo=6&idlinha=18&idgama=62&idproduto=389 the entry] on tsunami.pt<br />
<br />
= Current setup =<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! machine<br />
! location<br />
! operating system<br />
! notes<br />
|-<br />
| '''icubbrain1'''<br />
| left half of chassis<br />
| Ubuntu 8.04 LTS '''64bit'''<br />
| <br />
|-<br />
| '''icubbrain2'''<br />
| right half of chassis<br />
| Ubuntu 10.04 LTS '''32bit'''<br />
| has IPOPT 3.9.0 (manual installation according to [http://eris.liralab.it/wiki/Installing_IPOPT this page])<br />
|}<br />
<br />
= Operating system installation =<br />
<br />
The chassis contains two separate machines, each one having two hard disk drive drawers. Next, we will explain how we configured the left part of the server, called '''icubbrain1'''. The settings for icubbrain2 will be just about the same (unless otherwise noted, see above table), with the last octet of the IP address being 42 instead of 41.<br />
<br />
== Boot ==<br />
<br />
We booted the Ubuntu Server CD from an external USB CD drive. Press the 'Del' key if you need to access the BIOS boot order.<br />
<br />
We then had to manually confirm the usage of a 'cdrom' module within the installation (following all the default selections).<br />
<br />
== Network interface ==<br />
<br />
icubbrain1 has two Gbit interfaces. First we plugged an Ethernet cable into the first one (which turns on the "'''1'''" led in the chassis front). Then, when Ubuntu asked us to choose between eth0 and eth1, we picked up eth0.<br />
<br />
== Partitions ==<br />
<br />
We chose the 'Guided - use entire disk' option, which yielded the following:<br />
<br />
{| border="1"<br />
|+ Hard disk partitioning<br />
! size !! mountpoint !! filesystem<br />
|-<br />
|133GB || / || ext3<br />
|-<br />
|5GB || || swap<br />
|-<br />
|}<br />
<br />
== Ubuntu installation parameters ==<br />
<br />
* machine name: icubbrain1<br />
* user name: icub<br />
* software selection: OpenSSH<br />
<br />
== Operations after first boot ==<br />
<br />
* choose Main server (rather than Portugal server, which is incomplete) as the software repository. We do this by removing all the "pt." strings from /etc/apt/sources.list<br />
* <code>sudo apt-get update</code>; <code>sudo apt-get upgrade</code><br />
<br />
= Other operations performed =<br />
<br />
== Network configuration ==<br />
<br />
* manually configured the internet connection (<code>/etc/network/interfaces</code>):<br />
auto lo<br />
iface lo inet loopback<br />
<br />
auto eth0<br />
iface eth0 inet static<br />
address 10.10.1.41<br />
netmask 255.255.255.0<br />
network 10.10.1.0<br />
broadcast 10.10.1.255<br />
gateway 10.10.1.254<br />
<br />
* optionally, we can customize the <code>/etc/hosts</code> file [[Chico3 laptop machine configuration#Network|like we did on Chico3]]; this would allow us to quickly access other machines, as in: <code>ping cortex1</code>. Alternatively, we can do nothing and just use <code>ping cortex1.visnet</code> (i.e., attach the <code>.visnet</code> part after a machine name, see [[VisLab network]] for details).<br />
<br />
== Additional packages and environment variables ==<br />
<br />
* Install some required packages:<br />
<br />
sudo apt-get install gcc g++ make subversion ssh libace-dev libgsl0-dev libncurses5-dev gfortran<br />
<br />
* YARP and iCub require CMake version >= 2.6. Therefore,<br />
** on Ubuntu 8.04 (icubbrain1), install CMake manually via http://www.cmake.org<br />
** on Ubuntu 10.04 (icubbrain2), just run <code>sudo apt-get install cmake cmake-curses-gui</code><br />
<br />
* Create a file called ~/.bash_env (used by both interactive and non-interactive sessions, such as commands launched via <code>yarprun</code> from another machine) like this one:<br />
<br />
export YARP_ROOT=/home/icub/yarp2<br />
export YARP_DIR=$YARP_ROOT/build<br />
export ICUB_ROOT=/home/icub/iCub<br />
export ICUB_DIR=$ICUB_ROOT/main/build<br />
export PATH=$PATH:$YARP_DIR/bin:$ICUB_DIR/bin # icubbrain1 (older Ubuntu) also needs CMake bin path here<br />
export ICUB_ROBOTNAME=iCubLisboa01<br />
export IPOPT_DIR=/home/icub/Ipopt-3.9.0<br />
<br />
* Then, before the following line of /etc/bash.bashrc<br />
[ -z "$PS1" ] && return<br />
add this:<br />
# per-user environment variables (non-interactive and interactive mode)<br />
source $HOME/.bash_env<br />
<br />
== Subversion ==<br />
<br />
We have set the following parameter in <code>/etc/subversion/config</code>:<br />
store-passwords = no<br />
This implies that SVN will ask you for your password every time you do a commit. (Don't worry about changing your personal <code>~/.subversion/config</code> file: the parameter is not actually set there, so the global <code>/etc</code> setting is used.)<br />
<br />
= Additional software =<br />
<br />
== OpenCV ==<br />
<br />
sudo apt-get install libcv-dev libhighgui-dev libcvaux-dev<br />
<br />
== YARP and iCub ==<br />
<br />
Follow the instructions on the [[RobotCub software]] article. For compilation, do not use <code>sudo make install</code>.<br />
<br />
* Custom yarp2 configuration<br />
CMAKE_BUILD_TYPE Release<br />
CREATE_LIB_MATH<br />
<br />
* Custom iCub configuration<br />
CMAKE_BUILD_TYPE Release<br />
ENABLE_icubmod_cartesiancontrollerclient ON<br />
ENABLE_icubmod_gazecontrollerclient ON<br />
<br />
* iCub compilation<br />
make<br />
make install_applications<br />
<br />
* Final configuration<br />
yarp namespace /icub<br />
<br />
== ARTOOLKITPLUS ==<br />
Version 2.2.0 (Preferred) [From http://launchpadlibrarian.net/40255072/artoolkitplus-2.2.0.tar.bz2]<br />
Version 2.1.1 [From Main site: http://studierstube.icg.tu-graz.ac.at/handheld_ar/artoolkitplus.php]<br />
<br />
== MATLAB ==<br />
<br />
MATLAB R2010a was installed on icubbrain1 (requires <code>libxp6</code> package). Currently we are discussing if we want to leave the possibility to run MATLAB on the icubbrains (as well as on cortex), or to leave it only to cortex.<br />
<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_instructions&diff=2916ICub instructions2010-09-09T16:52:02Z<p>Ajain: /* Software side */</p>
<hr />
<div>This article explains how to manage Chico for '''demos and experiments''' alike. We will describe the hardware setup that accompanies our iCub, how to turn things on and off, and how to run demos.<br />
<br />
''An older version of this article can be found at [[iCub demos/Archive]] and [[Innovation Days 2009]].''<br />
<br />
== Setup ==<br />
<br />
The inventory consists of:<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! machine<br />
! notes<br />
! IP address, username<br />
|-<br />
| '''Chico''' the robot (duh)<br />
| has a [[pc104]] CPU in its head<br />
| 10.10.1.50, icub<br />
|-<br />
| '''icubsrv''' Dell XPS laptop<br />
| don't worry about this machine, just keep it switched on. It contains a hard disk that gets mounted by Chico's read-only CPU at boot time<br />
| 10.10.1.51, icub<br />
|-<br />
| '''[[Chico3 laptop machine configuration|chico3]]''' Tsunami 17" laptop<br />
| we will use this machine for YARP and all demo management<br />
| 10.10.1.53, icub<br />
|}<br />
<br />
Below Chico's table, from top to bottom we have:<br />
{| class="wikitable" border="1"<br />
|-<br />
! what<br />
! notes<br />
|-<br />
| Xantrex XFR 35-35<br />
| thin power supply unit, to power [[pc104]] and some motors. '''Voltage: 12.9''', current: 05.0 or more<br />
|-<br />
| Xantrex XFR 60-46<br />
| thick power supply unit, to power most motors. '''Voltage: 48.0''' (initially it is 0 - it changes when you turn the green motor switch), current: 10.0 or more<br />
|-<br />
| APC UPS<br />
| uninterruptible power supply<br />
|}<br />
<br />
''Note: the '''[[iCubBrain server configuration|iCubBrain]]''' chassis, which contains two servers used for computation (icubbrain1 - 10.10.1.41, icubbrain2 - 10.10.1.42) is normally in the ISR server room on the 6th floor as of Dec. 2009. However, it sits on top of the power supply units when we bring the iCub to external demos.''<br />
<br />
== Switching on the robot ==<br />
<br />
=== Hardware side ===<br />
<br />
* Check that the UPS is on<br />
* Turn on icubsrv (Dell XPS laptop)<br />
* Turn on chico3 (Tsunami 17" laptop), the display machine that we will use to actually control the demos<br />
* Turn on the Xantrex power supply units; make sure the voltage values are correct (see [[iCub_demos#Setup]])<br />
* Check that the two [[iCubBrain server configuration|iCubBrain]] servers are on (if the demo is held at ISR then they are already on: ignore this step)<br />
* Check that the '''red emergency button is unlocked'''<br />
* Turn on the green switches behind Chico<br />
** Safety hint: first turn on the [[pc104]] CPU switch, wait for the CPU to be on, and only then switch the motors on<br />
** Second safety hint, after turning on motors: wait for the four purple lights on each board to turn off and become two blue lights – at this point you can continue to the next steps<br />
<br />
=== Software side ===<br />
<br />
* Run '''cluster_manager.sh''' from the chico3 desktop icon and [[#Starting YARP components|start the needed YARP components (click here for detailed instructions)]]. The summary is:<br />
** First, always launch <code>yarpserver</code> with the 'Run' button in the Nameserver panel<br />
** Then, if your application employs machines other than chico3 itself, launch the necessary <code>yarprun</code> listeners (usually on '''chico3, pc104, icubbrain1, icubbrain2''')<br />
* If you need to use the motors, start [[#iCubInterface | iCubInterface]] on the pc104. Warning: make sure that the iCub is vertical before launching this software, otherwise the robot will first fall down (dangerous)<br />
* Depending on which demo you want to execute, you probably need to start the [[#Cameras | cameras]] as well<br />
<br />
== Shutting off the robot ==<br />
<br />
=== Software side ===<br />
<br />
* Stop your demo software and the cameras with the respective application manager GUIs; do not stop <code>yarpserver</code> in the Cluster Manager yet<br />
* Go to the (yellow) [[pc104]] iCubInterface shell window and stop the program hitting '''ctrl+c''', just '''once'''. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, hit ctrl+c more times and be ready to hold Chico's chest since the head may fall to the front.)<br />
* Now, in the Cluster Manager GUI stop the instances of <code>yarprun</code>, and finally <code>yarpserver</code><br />
* Optionally, shut down the [[pc104]] gracefully by typing this in the yellow pc104 shell window: <code>sudo shutdown -h now</code> <br />
<br />
=== Hardware side ===<br />
<br />
* Turn off the two green switches. Pay attention when turning off the 'Motors' switch: if iCubInterface was not stopped properly in the previous steps, then be ready to hold the robot when turning that switch<br />
* Turn off the Xantrex power supply units<br />
* Turn off chico3 (Tsunami 17" laptop)<br />
* If necessary, turn off icubsrv (Dell XPS laptop), other machines (such as portable servers during a demo outside ISR) and the UPS<br />
<br />
== Stopping the robot with the red emergency button ==<br />
<br />
The emergency button, as the name suggests, is to be used for emergencies only. For example:<br />
* When the robot is about to break something<br />
* When some components make nasty noises that suggest they are going to break<br />
Use this button with great care, as it cuts power to all motors and controllers abruptly! In particular, be ready to hold Chico from his chest, because the upper part of his body might fall upon losing power.<br />
<br />
To start using the robot again, it is convenient to quit and restart all the software components and interfaces; refer to [[#Switching on the robot]] for that. '''Don't forget to unlock the red emergency button''' after an emergency, otherwise the program [[#iCubInterface]] will start but not move any joint.<br />
<br />
== Starting YARP components ==<br />
<br />
''See [[Cluster Management in VisLab]] for background information about this GUI (not important for most users).''<br />
<br />
This section explains how to use the graphical Cluster Manager, which is accessible by double-clicking '''cluster_manager.sh''' from the chico3 desktop icon and selecting 'Run'. In short, we use this tool to manage two types of YARP components:<br />
<br />
# <code>yarpserver</code>: only one instance, which runs on the chico3 laptop itself. This is needed by all kinds of iCub applications.<br />
# <code>yarprun</code> command listeners: one instance per every machine that your desired application will run on. This step is demo-dependent. For most purposes we use the following machines: '''chico3, pc104, icubbrain1, icubbrain2'''. The [[#Yoga demo]] does not require any <code>yarprun</code>.<br />
<br />
Here is what you should do within the GUI for the two parts, respectively.<br />
<br />
=== <code>yarpserver</code> ===<br />
<br />
Click the 'Run' button in the Nameserver panel. This will launch the (single) instance of <code>yarpserver</code> on chico3. The light above the 'Stop' button will become green.<br />
<br />
=== <code>yarprun</code> ===<br />
<br />
Now we are ready to start <code>yarprun</code> on all the machines we need (necessary for several YARP modules distributed on different machines to communicate with one another). In the 'Select' column, make sure that only the following machines are selected with a red light:<br />
* chico3<br />
* pc104<br />
* icubbrain1 (64bit)<br />
* icubbrain2 (32bit)<br />
<br />
Click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light. The [[pc104]] can be slow and, sometimes, unpredictable (if it doesn't find the <code>yarpserver</code>, you will need to write the following line into yarp conf: <code>10.10.1.53 40000</code>).<br />
<br />
Do all the selected machines have their 'On/Off' switch green by now? If so, proceed to the next step. If not, click on 'Check All' and see if we have a green light from the [[pc104]] at this point. You should see something like this:<br />
<br />
[[Image:Successful_cluster_mgr.png]]<br />
<br />
== Other components ==<br />
<br />
Many demos and programs assume that components such as cameras, the iCubInterface driver or the facial expression driver have been launched. Here is how to run these blocks.<br />
<br />
=== Cameras ===<br />
<br />
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]<br />
* Double-click the '''cameras.sh icon''' on chico3 desktop and select 'Run'<br />
* Run modules and connect<br />
<br />
=== iCubInterface ===<br />
<br />
This program controls the motors and reads the inertial sensors. In practice, all demos assume that iCubInterface is already running in the background.<br />
<br />
To start iCubInterface, '''check that the red emergency button is unlocked''' and type '''one''' of these commands on a [[pc104]] console (depending if any limb is broken):<br />
<br />
{| class="wikitable" border="1"<br />
|-<br />
! command<br />
! notes<br />
|-<br />
| <code>iCubInterface --from iCubInterfaceSimple.ini</code><br />
| without Cartesian interface - usually, we launch the program this way<br />
|-<br />
| <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code><br />
| without Cartesian interface, left arm disabled<br />
|-<br />
| <code>iCubInterface --from iCubInterfaceSimpleRightArmDisabled.ini</code><br />
| without Cartesian interface, right arm disabled<br />
|-<br />
| <code>iCubInterface</code><br />
| with [http://eris.liralab.it/iCub/dox/html/icub_cartesian_interface.html Cartesian interface]. Equivalent to <code>--from iCubInterface.ini</code> and <code>--from iCubInterfaceCartesian.ini</code><br />
|-<br />
| <code>iCubInterface --from iCubInterfaceCartesianLeftArmDisabled.ini</code><br />
| with Cartesian interface, left arm disabled<br />
|-<br />
| <code>iCubInterface --from iCubInterfaceCartesianRightArmDisabled.ini</code><br />
| with Cartesian interface, right arm disabled<br />
|}<br />
<br />
Wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on. Keep the [[pc104]] shell window open or minimize it; you will use it again when you quit iCubInterface. For instructions about quitting, refer to section [[#Shutting off the robot]].<br />
<br />
There is a GUI application to interact with iCubInterface and command robot joints. Just invoke it from the display machine with:<br />
robotMotorGui<br />
<br />
=== Facial expression driver ===<br />
<br />
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]<br />
* Double-click the '''face_expressions.sh icon''' on chico3 desktop and select 'Run'<br />
* Finally, run modules and connect. It should look similar to this:<br />
<br />
[[Image:Face_expressions_app_mgr.png]]<br />
<br />
Note that the actual expression device driver (the first module of the two listed) runs on the [[pc104]]. Sometimes, that process cannot be properly killed and restarted from the graphical interface; in the event of you needing to do that, you can either <code>kill -9</code> its PID, or do a hard restart of the [[pc104]].<br />
<br />
== Specific demos ==<br />
<br />
''Refer to [[iCub demos/Archive]] for older information such as manual ways to start demos''.<br />
<br />
=== Ball tracking and reaching demo ===<br />
<br />
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]<br />
* Start [[#iCubInterface | iCubInterface]] on the [[pc104]]<br />
* Run '''camerasSetForTracking.sh''' (not cameras.sh!) from the chico3 desktop icon; start modules and make connections<br />
* Finally, run the '''demoReach_LeftHand.sh''' icon and use the Application Manager interface to start the modules and make the connections<br />
<br />
Note that this demo launches the left eye camera with special parameter values:<br />
brightness 0<br />
sharpness 0.5<br />
white balance red 0.474 // you may need to lower this, depending on illumination<br />
white balance blue 0.648 <br />
hue 0.482<br />
saturation 0.826<br />
gamma 0.400<br />
shutter 0.592<br />
gain 0.305<br />
<br />
=== Face tracker demo ===<br />
<br />
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]<br />
* Start [[#iCubInterface | iCubInterface]] on the [[pc104]]<br />
* Run '''cameras.sh''' from the chico3 desktop icon; start modules and make connections<br />
* Optionally, start the [[#Facial expression driver | facial expression driver]]<br />
* Run '''faceTracking_RightEye_NoHand.sh''' (or the Left/Right Arm version) from the chico3 desktop icon; start modules and make connections<br />
<br />
=== Yoga demo ===<br />
<br />
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]. For this demo we only need <code>yarpserver</code> (<code>yarprun</code>s are not necessary)<br />
* Run [[#iCubInterface | iCubInterface]] on the pc104<br />
* On any machine, type:<br />
iCubDemoY3 --config /app/demoy3/fullBody.txt<br />
<br />
=== Facial expression demo ===<br />
<br />
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]<br />
* Start the [[#Facial expression driver | facial expression driver]]<br />
* Run '''cycle_expressions.sh''' (Run in Terminal) from the chico3 desktop icon<br />
<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_logbook&diff=2030ICub logbook2009-09-18T18:59:20Z<p>Ajain: Add a new item: Both the iCub wrists are broken</p>
<hr />
<div>Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.<br />
<br />
== September 2009 ==<br />
<br />
* 2009-09-16: upgraded [[pc104 | pc104 and its boot scripts]]. Still missing: ntp (time).<br />
* 2009-09-16: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Chico3 laptop machine configuration | chico3]]. Custom, uncommited files that used to be in <code>/home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts}</code> are backed up in <code>/home/icub/iCub_cvs</code>.<br />
* 2009-09-14: installed [[RobotCub software | yarp2 SVN]] (2.2.5rc0, revision 7446) and [[RobotCub software | iCub SVN]] (revision 727) on [[Cortex | cortex1-5]]. iKin was complaining about not finding <code>libipopt.so.0</code>; this is now fixed thanks to setting the environment variable<br />
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/<br />
into <code>/home/icub/.bash_env</code>.<br />
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].<br />
* 2009-09-18: both the iCub wrists are currently broken<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Vislab&diff=1948Vislab2009-09-11T16:18:40Z<p>Ajain: /* Resources */ Added iKinArmCtrl to the list of resources. It is fairly important for future projects.</p>
<hr />
<div>This page is for internal use only. <br />
<br />
For the institutional information please, visit: <br />
<br />
http://vislab.isr.ist.utl.pt<br />
<br />
For nice videos and demonstration from VisLab check our channel on YouTube:<br />
http://www.youtube.com/user/VislabLisboa<br />
<br />
and our internal video page:<br />
[[Vislab_Videos]]<br />
<br />
== Projects ==<br />
<br />
=== Ongoing ===<br />
<br />
* Handle - Developmental pathway towards autonomy and dexterity in robot in-hand manipulation<br />
** http://www.handle-project.eu <br />
* RobotCub - Robotic Open-architecture Technology for Cognition, Understanding and Behaviour<br />
** http://robotcub.org<br />
* URUS - Ubiquitous Networking Robotics in Urban Settings<br />
** http://urus.upc.es <br />
<br />
=== Past ===<br />
<br />
* Caviar<br />
* Mirror<br />
<br />
== Robots ==<br />
<br />
* [[Baltazar]]<br />
* [[Chico]] (iCub @ Lisboa). Also see [[YARP on Ubuntu]]<br />
* [[Chica]]<br />
* [[Vizzy]]<br />
<br />
== Cortex ==<br />
<br />
For information on the setup of the cluster, see: [[Cortex]], in particular 'Global Libraries and Repositories' there.<br />
<br />
== SVN repository ==<br />
<br />
You can find the VisLab SVN repository at:<br />
svn://svn.isr.ist.utl.pt/vislab<br />
<br />
== Research Topics ==<br />
<br />
* [[Machine Learning]]<br />
* [[Computer Vision]]<br />
<br />
== Demos ==<br />
<br />
* [[Imitation]]<br />
* [[Binocular Head]]<br />
* [[Surveillance]]<br />
<br />
Useful information for running Demos: [[Cluster Manager]]<br />
<br />
== Tutorials ==<br />
<br />
* [[3D ball tracker]]<br />
<br />
== Resources ==<br />
<br />
* YARP for iCub: [[RobotCub coding basics]]<br />
* iCub Joints: http://eris.liralab.it/wiki/ICub_joints<br />
* iKinArmCtrl: http://eris.liralab.it/iCub/dox/html/group__iKinArmCtrl.html<br />
<br />
== Vislab category ==<br />
<br />
The page Category:Vislab (see link below) lists all pages related to Vislab.<br />
<br />
[[Category:Learning]]<br />
[[Category:Robots]]<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Vislab&diff=1942Vislab2009-09-10T14:38:57Z<p>Ajain: Added an item called iCub joints to Resources</p>
<hr />
<div>This page is for internal use only. <br />
<br />
For the institutional information please, visit: <br />
<br />
http://vislab.isr.ist.utl.pt<br />
<br />
For nice videos and demonstration from VisLab check our channel on YouTube:<br />
http://www.youtube.com/user/VislabLisboa<br />
<br />
and our internal video page:<br />
[[Vislab_Videos]]<br />
<br />
== Projects ==<br />
<br />
=== Ongoing ===<br />
<br />
* Handle - Developmental pathway towards autonomy and dexterity in robot in-hand manipulation<br />
** http://www.handle-project.eu <br />
* RobotCub - Robotic Open-architecture Technology for Cognition, Understanding and Behaviour<br />
** http://robotcub.org<br />
* URUS - Ubiquitous Networking Robotics in Urban Settings<br />
** http://urus.upc.es <br />
<br />
=== Past ===<br />
<br />
* Caviar<br />
* Mirror<br />
<br />
== Robots ==<br />
<br />
* [[Baltazar]]<br />
* [[Chico]] (iCub @ Lisboa). Also see [[YARP on Ubuntu]]<br />
* [[Chica]]<br />
* [[Vizzy]]<br />
<br />
== Cortex ==<br />
<br />
For information on the setup of the cluster, see: [[Cortex]], in particular 'Global Libraries and Repositories' there.<br />
<br />
== SVN repository ==<br />
<br />
You can find the VisLab SVN repository at:<br />
svn://svn.isr.ist.utl.pt/vislab<br />
<br />
== Research Topics ==<br />
<br />
* [[Machine Learning]]<br />
* [[Computer Vision]]<br />
<br />
== Demos ==<br />
<br />
* [[Imitation]]<br />
* [[Binocular Head]]<br />
* [[Surveillance]]<br />
<br />
Useful information for running Demos: [[Cluster Manager]]<br />
<br />
== Tutorials ==<br />
<br />
* [[3D ball tracker]]<br />
<br />
== Resources ==<br />
<br />
* YARP for iCub: [[RobotCub coding basics]]<br />
* iCub Joints: http://eris.liralab.it/wiki/ICub_joints<br />
<br />
== Vislab category ==<br />
<br />
The page Category:Vislab (see link below) lists all pages related to Vislab.<br />
<br />
[[Category:Learning]]<br />
[[Category:Robots]]<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1941ICub coding basics2009-09-10T14:36:24Z<p>Ajain: Moved "Resource Finder, RF Module, Port" to subtopic of Tutorials</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Tutorial =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
== Resource Finder ==<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
== RFModule class ==<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
== Port ==<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== Auto Associative Memory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory. It is well documented and adheres to good coding and documentation standards. Available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== Cross Power Spectrum Vergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1926ICub coding basics2009-09-09T10:58:10Z<p>Ajain: Moved "http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines" from "General Guides" to "Tutorials". It is after all the best tutorial!</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Tutorial =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
= RFModule class =<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
= Port Tutorials =<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== Auto Associative Memory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory. It is well documented and adheres to good coding and documentation standards. Available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== Cross Power Spectrum Vergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1925ICub coding basics2009-09-09T10:56:36Z<p>Ajain: Changed the name of topic "Basic Image Processing Tutorial" to "Tutorial"</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Tutorial =<br />
* http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
= RFModule class =<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
= Port Tutorials =<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== Auto Associative Memory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory. It is well documented and adheres to good coding and documentation standards. Available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== Cross Power Spectrum Vergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1924ICub coding basics2009-09-09T10:54:53Z<p>Ajain: Added a few lines to Auto Associative Memory example</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Basic image processing tutorial =<br />
http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
= RFModule class =<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
= Port Tutorials =<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== Auto Associative Memory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory. It is well documented and adheres to good coding and documentation standards. Available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== Cross Power Spectrum Vergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1923ICub coding basics2009-09-09T10:53:50Z<p>Ajain: </p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Basic image processing tutorial =<br />
http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
= RFModule class =<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
= Port Tutorials =<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== Auto Associative Memory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory. It is well documented and adheres to good coding and documentation standards, available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== Cross Power Spectrum Vergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1922ICub coding basics2009-09-09T09:12:01Z<p>Ajain: Changed the RFModule class, Port Tutorials from subtopic to topics</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Basic image processing tutorial =<br />
http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
= RFModule class =<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
= Port Tutorials =<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== Auto Associative Memory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory,<br />
available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== Cross Power Spectrum Vergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Vislab&diff=1911Vislab2009-09-07T14:12:34Z<p>Ajain: moved topic "Useful information for demos" to the topic "Demos"</p>
<hr />
<div>This page is for internal use only. <br />
<br />
For the institutional information please, visit: <br />
<br />
http://vislab.isr.ist.utl.pt<br />
<br />
For nice videos and demonstration from VisLab check our channel on YouTube:<br />
http://www.youtube.com/user/VislabLisboa<br />
<br />
and our internal video page:<br />
[[Vislab_Videos]]<br />
<br />
== Projects ==<br />
<br />
=== Ongoing ===<br />
<br />
* Handle - Developmental pathway towards autonomy and dexterity in robot in-hand manipulation<br />
** http://www.handle-project.eu <br />
* RobotCub - Robotic Open-architecture Technology for Cognition, Understanding and Behaviour<br />
** http://robotcub.org<br />
* URUS - Ubiquitous Networking Robotics in Urban Settings<br />
** http://urus.upc.es <br />
<br />
=== Past ===<br />
<br />
* Caviar<br />
* Mirror<br />
<br />
== Robots ==<br />
<br />
* [[Baltazar]]<br />
* [[Chico]] (iCub @ Lisboa). Also see [[YARP on Ubuntu]]<br />
* [[Chica]]<br />
* [[Vizzy]]<br />
<br />
== Cortex ==<br />
<br />
For information on the setup of the cluster, see: [[Cortex]].<br />
<br />
Please include the libraries that do not have a clean 'make install' in /opt/<br />
<br />
current status:<br />
/opt/<br />
<br />
ARToolKit<br />
<br />
intel<br />
<br />
Ipopt-3.5.5-linux-x86_32-gcc4.2.4<br />
<br />
== SVN repository ==<br />
<br />
You can find the VisLab SVN repository at:<br />
svn://svn.isr.ist.utl.pt/vislab<br />
<br />
== Research Topics ==<br />
<br />
* [[Machine Learning]]<br />
* [[Computer Vision]]<br />
<br />
== Demos ==<br />
<br />
* [[Imitation]]<br />
* [[Binocular Head]]<br />
* [[Surveillance]]<br />
<br />
Useful information for running Demos: [[Cluster Manager]]<br />
<br />
== Tutorials ==<br />
<br />
* [[3D ball tracker]]<br />
<br />
== Resources ==<br />
<br />
* YARP for iCub: [[RobotCub coding basics]]<br />
<br />
== Vislab category ==<br />
<br />
The page Category:Vislab (see link below) lists all pages related to Vislab.<br />
<br />
[[Category:Learning]]<br />
[[Category:Robots]]<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Vislab&diff=1910Vislab2009-09-07T14:08:51Z<p>Ajain: Added a sub topic called resources</p>
<hr />
<div>This page is for internal use only. <br />
<br />
For the institutional information please, visit: <br />
<br />
http://vislab.isr.ist.utl.pt<br />
<br />
For nice videos and demonstration from VisLab check our channel on YouTube:<br />
http://www.youtube.com/user/VislabLisboa<br />
<br />
and our internal video page:<br />
[[Vislab_Videos]]<br />
<br />
== Projects ==<br />
<br />
=== Ongoing ===<br />
<br />
* Handle - Developmental pathway towards autonomy and dexterity in robot in-hand manipulation<br />
** http://www.handle-project.eu <br />
* RobotCub - Robotic Open-architecture Technology for Cognition, Understanding and Behaviour<br />
** http://robotcub.org<br />
* URUS - Ubiquitous Networking Robotics in Urban Settings<br />
** http://urus.upc.es <br />
<br />
=== Past ===<br />
<br />
* Caviar<br />
* Mirror<br />
<br />
== Robots ==<br />
<br />
* [[Baltazar]]<br />
* [[Chico]] (iCub @ Lisboa). Also see [[YARP on Ubuntu]]<br />
* [[Chica]]<br />
* [[Vizzy]]<br />
<br />
== Cortex ==<br />
<br />
For information on the setup of the cluster, see: [[Cortex]].<br />
<br />
Please include the libraries that do not have a clean 'make install' in /opt/<br />
<br />
current status:<br />
/opt/<br />
<br />
ARToolKit<br />
<br />
intel<br />
<br />
Ipopt-3.5.5-linux-x86_32-gcc4.2.4<br />
<br />
== SVN repository ==<br />
<br />
You can find the VisLab SVN repository at:<br />
svn://svn.isr.ist.utl.pt/vislab<br />
<br />
== Research Topics ==<br />
<br />
* [[Machine Learning]]<br />
* [[Computer Vision]]<br />
<br />
== Demos ==<br />
<br />
* [[Imitation]]<br />
* [[Binocular Head]]<br />
* [[Surveillance]]<br />
<br />
== Useful information for running Demos ==<br />
<br />
* [[Cluster Manager]]<br />
<br />
== Tutorials ==<br />
<br />
* [[3D ball tracker]]<br />
<br />
== Resources ==<br />
<br />
* YARP for iCub: [[RobotCub coding basics]]<br />
<br />
== Vislab category ==<br />
<br />
The page Category:Vislab (see link below) lists all pages related to Vislab.<br />
<br />
[[Category:Learning]]<br />
[[Category:Robots]]<br />
[[Category:Vislab]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Main_Page&diff=1909Main Page2009-09-07T14:07:32Z<p>Ajain: </p>
<hr />
<div>__NOTOC__<br />
<br />
<big>'''Welcome to the MediaWiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''</big><br />
<br />
Consult [[Help:Contents|these wiki help pages]] for usage information.<br />
<br />
Feel free to edit the following list with your pages hosted here.<br />
<br />
== Opportunities ==<br />
<br />
=== Current ===<br />
<br />
<br />
=== Past ===<br />
<br />
* [[BII 2009]]<br />
* [[Dissertation/Project proposals]]<br />
* [[BII 2008]]<br />
<br />
== Research ==<br />
<br />
* bureaucracy: [[Prospective PhD students]]<br />
* [[Vislab | Computer and Robot Vision Lab (VisLab)]]<br />
** demos: [[Affordance imitation]], [[Chico]], [[Cluster Management in VisLab]], '''[[iCub demos]]'''<br />
** hardware: [[Chico3 laptop machine configuration]], [[Cortex]], [[iCubBrain server configuration]], [[pc104]]<br />
** software: '''[[RobotCub software]]'''<br />
* [[Intelligent Systems Lab]]<br />
* [[Lisbon-K Chromosome Dataset]]<br />
* [[International conferences deadlines]]<br />
* [[Journals]]<br />
* [[Cv_rss_feeds | Computer Vision Journals RSS feeds]]<br />
<br />
== Teaching ==<br />
<br />
* [[Robotics lab resources]]<br />
* [[Autonomous Systems resources]]<br />
<br />
== Events ==<br />
<br />
=== Upcoming ===<br />
<br />
<br />
<br />
=== Past === <br />
<br />
* [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]<br />
* [[Ocupação Científica de Jovens nas Férias 2009]]<br />
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]]<br />
<br />
== Computing ==<br />
<br />
* [[ISR computing resources]]<br />
* [[Macintosh resources]] (incl. useful tips)<br />
* [[Python resources]]<br />
<br />
== Misc ==<br />
<br />
* [[Administrative checklist]] (internal use only) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''<br />
* [[List of restaurants near IST]]<br />
* [http://wiki.isr.ist.utl.pt Former ISR wiki pages]<br />
* Use this [[SandBox]] for experimentation with MediaWiki</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1908ICub coding basics2009-09-07T13:59:36Z<p>Ajain: Added categories YARP and C++</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Basic image processing tutorial =<br />
http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
== RFModule class ==<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
== Port Tutorials ==<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== autoAssociativeMemory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory,<br />
available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== crossPowerSpectrumVergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]<br />
[[Category:C++]]<br />
[[Category:YARP]]</div>Ajainhttp://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ICub_coding_basics&diff=1907ICub coding basics2009-09-07T13:57:26Z<p>Ajain: Added a sub topic called ports.</p>
<hr />
<div>Refer to [[RobotCub software]] to learn how to install, compile and update RobotCub software with Subversion (SVN). Below we will link to tutorials that are useful for people starting up with iCub and YARP coding.<br />
<br />
= General guides =<br />
* http://eris.liralab.it/wiki/Summary_of_iCub_Software_Development_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_Documentation_Guidelines<br />
* http://eris.liralab.it/wiki/ICub_File_Organization_Guidelines<br />
<br />
= Basic image processing tutorial =<br />
http://eris.liralab.it/iCub/dox/html/icub_basic_image_processing.html<br />
<br />
= Resource Finder =<br />
http://eris.liralab.it/wiki/Resource_finder_overview<br />
<br />
== RFModule class ==<br />
* http://eris.liralab.it/yarpdoc/d9/d26/classyarp_1_1os_1_1RFModule.html<br />
* http://eris.liralab.it/iCub/dox/html/icub_tutorial_module.html<br />
<br />
== Port Tutorials ==<br />
* Basic: http://eris.liralab.it/yarpdoc/note_ports.html<br />
* Advanced: http://eris.liralab.it/yarpdoc/port_expert.html<br />
<br />
Do read about the Bottle class also [http://eris.liralab.it/yarpdoc/d3/d3e/classyarp_1_1os_1_1Bottle.html#_details]<br />
<br />
= Examples =<br />
<br />
== autoAssociativeMemory ==<br />
A small YARP+OpenCV project is the Auto-Associative (Episodic) Memory,<br />
available here:<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/autoAssociativeMemory/<br />
<br />
== crossPowerSpectrumVergence ==<br />
<br />
Another application that is RFModule-compliant is<br />
http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCub/src/crossPowerSpectrumVergence/<br />
<br />
[[Category:Vislab]]</div>Ajain