ISRWiki - User contributions [en]

ICub logbook

2010-01-28T08:41:50Z

Chwress:

Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.

== 2009 ==

* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceRightArmDisabled.ini</code> for the time being
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].
* 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)
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code>
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)
* 2009-09-18: updated controllers firmware. (alex)
* 2009-09-18: both the iCub wrists are currently broken
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).
* 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>.
* 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
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].
[[Category:Vislab]]

ICub instructions

2010-01-27T09:34:12Z

Chwress:

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.

''An older version of this article can be found here: [[Innovation Days 2009]].''

== Setup ==

The inventory consists of:

{| class="wikitable" border="1"
|-
! machine
! notes
! IP address, username
|-
| '''Chico''' the robot (duh)
| has a [[pc104]] CPU in its head
| 10.10.1.50, icub
|-
| '''icubsrv''' Dell XPS laptop
| 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
| 10.10.1.51, icub
|-
| '''[[Chico3 laptop machine configuration|chico3]]''' Tsunami 17" laptop
| we will use this machine for YARP and all demo management
| 10.10.1.53, icub
|}

Below Chico's table, from top to bottom we have:
{| class="wikitable" border="1"
|-
! what
! notes
! IP address (server name), username
|-
| '''[[iCubBrain server configuration|iCubBrain]]''' chassis
| contains two servers used for computation (moved to ISR server room as of Dec. 2009)
| 10.10.1.41 ('''icubbrain1'''), 10.10.1.42 ('''icubbrain2'''), icub
|-
| Xantrex XFR 35-35
| thin power supply unit, to power [[pc104]] and some motors. Voltage: 12.9, current: 02.6
| -
|-
| Xantrex XFR 60-46
| thick power supply unit, to power most motors. Voltage: 44.5 (initially it is 0 - it changes when you turn the green motor switch), current: 01.1
| -
|-
| APC UPS
| uninterruptible power supply
| -
|}

== Switching on the robot ==

* Check that the UPS is on
* Turn on icubsrv (Dell XPS laptop)
* Turn on chico3 (Tsunami 17" laptop), the display machine that we will use to actually control the demos
* Turn on the Xantrex power supply units
* Check that the '''red emergency button is unlocked'''
* Turn on the green switches behind Chico
** Safety hint: first turn on the [[pc104]] CPU switch, wait for the CPU to be on, and only then switch the motors on
** 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, namely starting [[#iCubInterface | iCubInterface]]
* [[#Starting YARP components | Start the needed YARP components]] with the Cluster Manager GUI: one instance of <code>yarpserver</code> plus all necessary instances of <code>yarprun</code> (one per each machine that will do computation; for an explanation of this tool, see [[Cluster Management in VisLab]])
* Depending on which demo you want to execute, you will probably need to start [[#iCubInterface | iCubInterface]] and the [[#Cameras | cameras]]
* Depending on your demo, you might need to power up icubbrain1 (left half of server chassis) and/or icubbrain2 (right half)

== Shutting off the robot ==

* Stop your demo software and the cameras with the respective application manager GUIs; do not stop <code>yarpserver</code> yet
* 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.)
* Now, with the Cluster Manager GUI stop the instances of <code>yarprun</code>, and then <code>yarpserver</code> (see [[Cluster Management in VisLab]] for details)
* Optionally, shut down the [[pc104]] gracefully by typing this in the yellow pc104 shell window: <code>sudo shutdown -h now</code>
* 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
* Turn off the Xantrex power supply units
* Turn off chico3 (Tsunami 17" laptop)
* If necessary, turn off icubsrv (Dell XPS laptop) and the UPS

== Stopping the robot with the red emergency button ==

The emergency button, as the name suggests, is to be used for emergencies only. For example:
* When the robot is about to break something
* When some components make nasty noises that suggest they are going to break
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.

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.

== Starting YARP components ==

Launch the graphical '''[[Cluster Management in VisLab|Cluster Manager]]''' application on the chico3 laptop, by double-clicking the cluster_manager.sh icon on the desktop and selecting 'Run'.

In case that did not work, you can launch the program in a terminal:

cd $ICUB_ROOT/app/default/scripts
./icub-cluster.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/vislab-cluster.xml

=== <code>yarpserver</code> ===

Within the Cluster Manager GUI, click 'Run' to launch <code>yarpserver</code> on chico3. The light above the 'Stop' button will become green.

=== <code>yarprun</code> ===

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:
* chico3
* pc104
* icubbrain1

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>).

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:

[[Image:Successful_cluster_mgr.png]]

== Other components ==

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.

=== Cameras ===

Double-click the cameras.sh icon on the desktop and select 'Run'.

In case that did not work, type this inside a chico3 console:
cd $ICUB_ROOT/app/default/scripts
./manager.py cameras_320x240.xml

That XML file is actually located in $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/. Resource Finder gives priority to that directory, when $ICUB_ROBOTNAME is defined, as is the case for us (iCubLisboa01).

Alternatively, the second command can use the <code>cameras_640x480.xml</code> configuration, if you need a larger resolution.

=== iCubInterface ===

This program controls the motors and reads the inertial sensors. In practice, all demos assume that iCubInterface is already running in the background.

To start iCubInterface, '''check that the red emergency button is unlocked''' and type this on a [[pc104]] console:
iCubInterface --from iCubInterfaceRightArmDisabled.ini (21 Dec. 2009: right wrist broken)
or
iCubInterface --from iCubInterface.ini
The mentioned scripts <code>iCubInterface.ini</code> and <code>iCubInterfaceRightArmDisabled.ini</code> link to <code>iCubInterfaceCartesian.ini</code> and <code>iCubInterfaceCartesianRightArmDisabled.ini</code> respectively. In case you need to start the iCubInterface without the Cartesian interfaces, use the other configuration:
iCubInterface --from iCubInterfaceSimple.ini
and its variants for disabled limbs.

Wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on. Note: in case the left arm/wrist is broken, use <code>iCubInterfaceLeftArmDisabled.ini</code>, and so on if the right arm/wrist is broken.

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]].

There is a GUI application to interact with iCubInterface and command robot joints. Just invoke it from the display machine with:
robotMotorGui

=== Facial Expressions ===

Open a [[pc104]] console and type:

cd $ICUB_ROOT/app/faceExpressions/scripts
./emotions.sh $ICUB_ROOT/app/iCubLisboa01/conf

== Specific demos ==

''Refer to [[Innovation Days 2009]] for now''.

[[Category:Vislab]]

ICub logbook

2010-01-26T18:52:37Z

Chwress: /* 2009 */

Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.

== 2009 ==

* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iCubInterfaceCartesianRightArmDisabled.ini</code> for the time being
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].
* 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)
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code>
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)
* 2009-09-18: updated controllers firmware. (alex)
* 2009-09-18: both the iCub wrists are currently broken
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).
* 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>.
* 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
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].
[[Category:Vislab]]

ICub logbook

2010-01-26T18:52:29Z

Chwress: /* 2009 */

Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.

== 2009 ==

* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from iiCubInterfaceCartesianRightArmDisabled.ini</code> for the time being
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].
* 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)
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code>
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)
* 2009-09-18: updated controllers firmware. (alex)
* 2009-09-18: both the iCub wrists are currently broken
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).
* 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>.
* 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
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].
[[Category:Vislab]]

ICub logbook

2010-01-26T17:30:34Z

Chwress: /* 2009 */

Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.

== 2009 ==

* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from icubSafeNoRightArm.ini</code> for the time being
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].
* 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)
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code>
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)
* 2009-09-18: updated controllers firmware. (alex)
* 2009-09-18: both the iCub wrists are currently broken
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).
* 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>.
* 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
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].
[[Category:Vislab]]

ICub logbook

2010-01-26T17:27:36Z

Chwress:

Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.

== 2009 ==

* 2009-12-21: right wrist is currently broken, left one is working. Please use <code>iCubInterface --from $ICUB_ROOT/app/iCubLisboa01/icubSafeNoRightArm.ini</code> for the time being
* 2009-12-18: updated IPOPT on both [[iCubBrain server configuration | icubbrains]] (see there for versions).
* 2009-12-16: updated YARP and iCub SVN on [[iCubBrain server configuration | icubbrain2]].
* 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)
* 2009-11-12: [[Cortex | cortex1-5]] now run IPOPT 3.7.0.
* 2009-09-23: both arms working. You can safely use <code>icubSafe.ini</code> again.
* 2009-09-21: left wrist is currently broken, right one is working. Please use <code>iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini</code>
* 2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)
* 2009-09-18: updated controllers firmware. (alex)
* 2009-09-18: both the iCub wrists are currently broken
* 2009-09-16: upgraded [[pc104 | pc104, icubsrv and boot scripts]]. Still missing: ntp (time).
* 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>.
* 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
LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/
into <code>/home/icub/.bash_env</code>.
* 2009-09-11: installed [[RobotCub software | yarp2 and iCub SVN]] on [[Cortex | cortex6]].
[[Category:Vislab]]