ISRWiki - User contributions [en]

Vislab

2017-10-04T23:10:57Z

Plinio: /* Software repositories */

Institutional information:
http://vislab.isr.ist.utl.pt

Our YouTube channel, containing nice videos and demonstrations:
http://www.youtube.com/user/VislabLisboa

Our internal video page on this wiki:
[[VisLab Videos]]

== Research Topics ==

* Machine Learning
* Computer Vision

== Projects ==

=== Current projects ===

* POETICON++ - Robots Need Language: A computational mechanism for generalisation and generation of new behaviours in robots (EC FP7, Jan. 2012 - Dec. 2015)
** http://www.poeticon.eu/
** The main objective of POETICON++ is the development of a computational mechanism for generalisation of motor programs and visual experiences for robots. To this end, it will integrate natural language and visual action/object recognition tools with motor skills and learning abilities, in the iCub humanoid. Tools and skills will engage in a cognitive dialogue for novel action generalisation and creativity experiments in two scenarios of "everyday activities", comprising of (a) behaviour generation through verbal instruction, and (b) visual scene understanding. POETICON++ views natural language as a necessary tool for endowing artificial agents with generalisation and creativity in real world environments.

* Dico(re)²s - Discount Coupon Recommendation and Redemption System (EC FP7, July 2011 - June 2013)
** http://www.dicore2s.com/
** Dico(re)²s develops and deploys a coupon-based discount campaign platform to provide consumers and retailers/manufacturers with a personalized environment for maximum customer satisfaction and business profitability.

* First-MM - Flexible Skill Acquisition and Intuitive Robot Tasking for Mobile Manipulation (EC FP7, Feb. 2010 - Jul. 2013)
** http://www.first-mm.eu/
** The goal of First-MM is to build the basis for a new generation of autonomous mobile manipulation robots that can flexibly be instructed to perform complex manipulation and transportation tasks. The project will develop a novel robot programming environment that allows even non-expert users to specify complex manipulation tasks in real-world environments. In addition to a task specification language, the environment includes concepts for probabilistic inference and for learning manipulation skills from demonstration and from experience.

=== Past projects ===

* RoboSoM - A Robotic Sense of Movement (EC FP7, Dec. 2009 - Dec. 2012)
** http://www.robosom.eu/
** This project aims at advancing the state-of-the-art in motion perception and control in a humanoid robot. The fundamental principles to explore are rooted on theories of human perception: Expected Perception (EP) and the Vestibular Unified Reference Frame.

* HANDLE - Developmental Pathway Towards Autonomy and Dexterity in Robot In-Hand Manipulation (EC FP7, Feb. 2009 - Feb. 2013)
** http://www.handle-project.eu
** This project aims at providing advanced perception and control capabilities to the Shadow Robot hand, one of the most advanced robotic hands in mechanical terms. We follow some paradigms of human learning to make the system able to grasp and manipulate objects of different characteristics: learning by imitation and by self-exploration. Different object characteristics and usages (object affordances) determine the way the hand will perform the grasping and manipulation actions.

* URUS - Ubiquitous Networking Robotics in Urban Settings (EC FP6, Dec. 2006 - Nov. 2009)
** http://urus.upc.es

* RobotCub - Robotic Open-Architecture Technology for Cognition, Understanding and Behaviour (EC FP6, Sept. 2004 - Jan. 2010)
** http://www.robotcub.org

* CAVIAR - Context-Aware Vision Using Image-Based Active Recognition (EC FP6, 2002 - 2005)
** http://homepages.inf.ed.ac.uk/rbf/CAVIAR/

* MIRROR - Mirror Neurons for Recognition (EC FP5, 2001 - 2004)

== Material ==

* [[VisLab book wishlist]]
* [[VisLab calendar]]
* [[Vislab list of journals]]
* [[VisLab slides template and logos]]

== Robots ==

* [[Baltazar]]
* [[Chico]] (iCubLisboa01)
* [[Chica]]
* [[Chico head]]
* [[Vizzy]]
* [[Nao]]
* [[Darwin]]

== Other resources ==

=== Blackhole network storage ===

You can store your work and backups on blackhole (10.0.3.118). As of 2013, this disk replaced the old one europa_hd (10.0.3.117).

=== Cortex cluster ===

''For information on the setup of this cluster, see [[Cortex]].''

=== Cameras ===
* [[Nickon5000D]] photo camera
* [[Flea]] firewire camera

=== Demos ===

* [[Binocular Head]]
* [[Imitation]]
* [[Surveillance]]

=== iCubBrain cluster ===

''For information on the setup of this cluster, see [[iCubBrain]].''

=== Network ===

''See the [[VisLab network]] article.''

=== Software repositories ===

Git repositories at:
https://github.com/vislab-tecnico-lisboa

Github repositories guidelines:

* Repository name: All the characters must be lower case and use underscore to separate words
* Repository name: Avoid the usage of non-letter characters in the name, including "-"
* Repository description is mandatory
* README.md is mandatory
* The WIKI of the repository is highly encouraged to use, in case the README.md becomes a very large file

Old SVN repository at:
svn://svn.isr.ist.utl.pt/vislab

=== Tutorials ===

* [[3D ball tracker]]
* [[OpenRAVE Tutorial]]
* [[ROS Tutorial]]
* [[DollarPedestrianDetectionCode | Caltech Pedestrian Detection database and code]]
* [[FelzenszwalbDetectionCode | Object Detection code by Felzenszwalb, Girshick, McAllester, Ramanan]]
* [[GitCentralizedWorkflow | Using Git with a centralized workflow]]

=== Useful links ===

* [[Checklist for new VisLab members]]

== VisLab category ==

The page ''Category:Vislab'' (linked below) lists all pages related to VisLab.

[[Category:Learning]]
[[Category:Robots]]
[[Category:Vislab]]

Install yarp and icub-* repositories at vizzy-desktop and at a visualization PC

2015-10-15T14:04:41Z

Plinio: /* Running cluster manager */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
The namespace configuration defines the IP address and port where the yarpserver is expected to be found. Vizzy's setup runs the yarpserver at the vizzy-desktop. In order to set this configuration up, execute in a terminal the commands:
yarp namespace /vizzy_ns
yarp conf 192.168.1.2 10000
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 192.168.1.2, port number 10000
If there is a long delay, try:
yarp conf --clean

===Configuring and running cluster manager===

==Configuration==
The 3G ASUS Wireless router act as a wireless access point. The name of the network is Vizzy_ap, and both DHCP and manual IP addresses are valid. In the network configuration file /etc/hosts, the following should be added:
192.168.1.2 vizzy-desktop

==Running==
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought). This file has to be created for the PC you want to run on. The example command as follows:
icub-cluster.py vizzy-cluster-at-deepthought.xml

===Running gyarpmanager===
Run the graphical application manager
yarpmanager --from robots/vizzy/ymanager.ini

Install yarp and icub-* repositories at vizzy-desktop and at a visualization PC

2015-10-15T13:54:47Z

Plinio: /* YARP namespace */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
The namespace configuration defines the IP address and port where the yarpserver is expected to be found. Vizzy's setup runs the yarpserver at the vizzy-desktop. In order to set this configuration up, execute in a terminal the commands:
yarp namespace /vizzy_ns
yarp conf 192.168.1.2 10000
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 192.168.1.2, port number 10000
If there is a long delay, try:
yarp conf --clean

===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought). This file has to be created for the PC you want to run on
icub-cluster.py vizzy-cluster-at-deepthought.xml

===Running gyarpmanager===
Run the graphical application manager
yarpmanager --from robots/vizzy/ymanager.ini

Install yarp and icub-* repositories at vizzy-desktop and at a visualization PC

2015-07-15T08:46:40Z

Plinio: /* Running cluster manager */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought). This file has to be created for the PC you want to run on
icub-cluster.py vizzy-cluster-at-deepthought.xml

===Running gyarpmanager===
Run the graphical application manager
yarpmanager --from robots/vizzy/ymanager.ini

Install yarp and icub-* repositories at vizzy-desktop and at a visualization PC

2015-07-15T08:45:48Z

Plinio: /* Running gyarpmanager */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml
===Running gyarpmanager===
Run the graphical application manager
yarpmanager --from robots/vizzy/ymanager.ini

Install yarp and icub-* repositories at vizzy-desktop and at a visualization PC

2015-02-26T16:36:59Z

Plinio: Created page with "== Installation of visualization PC == At the computer you want to run gyarpmanager: Create the user vizzy Create the file /home/vizzy/.bash_env with the following text e..."

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml
===Running gyarpmanager===
Run the graphical application manager
gyarpmanager --from robots/vizzy/ymanager.ini

Vizzy

2015-02-26T16:36:03Z

Plinio: /* Software */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

==Tutorials==

* [[Turning on and off the Vizzy robot]].
* [[Turning on the Vizzy cameras]].
* [[Using the Vizzy robot motor gui]].
* [[Using the iKinGazeCtrl with Vizzy]].
* [[Using the iKin Cartesian interface with Vizzy]].
* [[Using the ball tracker with Vizzy]].

==Software==
* [[Install yarp and icub-* repositories at vizzy-desktop and at a visualization PC]].
* [[Vizzy SVN repository]].
* [[Vizzy Cartesian Interface]].

==Specifications==

* [[Vizzy Hardware]].
* [[Vizzy PC104]].
* [[Vizzy Segway]].
* [[Vizzy Denavit–Hartenberg parameters]].

==Important notes==

* [[TODO: Vizzy priority list]].
* [[Vizzy Vs iCub]].
* [[Vizzy Troubleshoot]].
* [[PID Configuration]].
* [[Camera issues]].
* [[IMU not accessible]].

==Vizzy media==

* [[Vizzy videos]].
* [[media:VizzyPresentation.pdf|Vizzy presentation for the weekly Vislab meeting (27/11/2012)]].

[[Category:Robots]]
[[Category:Vislab]]

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:35:10Z

Plinio: /* Testing the installation */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml
===Running gyarpmanager===
Run the graphical application manager
gyarpmanager --from robots/vizzy/ymanager.ini

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:30:11Z

Plinio: /* Passwordless connections for icub-cluster script */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:29:57Z

Plinio: /* Passwordless connections for icub-cluster script */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows (as example the PC for visualizing is deepthought):
ssh-copy-id -i /home/icub/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:29:16Z

Plinio: /* Passwordless connections for icub-cluster script */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows:
ssh-copy-id -i /home/icub/.ssh/id_rsa.pub vizzy@vizzy-desktop
ssh-copy-id -i /home/vizzy/.ssh/id_rsa.pub vizzy@deepthought

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:25:39Z

Plinio: /* Testing the installation */

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows:
ssh-copy-id -i /home/icub/.ssh/id_rsa.pub vizzy@vizzy-desktop

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000
===Running cluster manager===
Run the icub-cluster.py having as parameter the xml file for the PC you are running (e.g. deepthought)
icub-cluster.py vizzy-cluster-at-deepthought.xml

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:23:03Z

Plinio:

== Installation of visualization PC ==

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

===Install YARP from sources===

At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

===Install icub-main from sources===

At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

=== Passwordless connections for icub-cluster script ===
First, generate a key as follows. You only need to it once; use default choices:
ssh-keygen -t rsa

Then, copy the key to the vizzy-desktop as follows:
ssh-copy-id -i /home/icub/.ssh/id_rsa.pub vizzy@vizzy-desktop

== Testing the installation ==

=== Correctly installed configuration files ===
Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy
=== YARP namespace ===
Issuing the command:
yarp namespace
should report
YARP namespace: /vizzy_ns
and yarp where should reply
Looking for name server on 10.1.3.1, port number 10000
If there is a long delay, try:
yarp conf --clean

otherwise issue
yarp namespace /vizzy_ns
yarp conf
gedit /home/vizzy/.config/yarp/_vizzy_ns.conf
and add to that file
10.1.3.1 10000

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:14:22Z

Plinio: /* Passwordless connections for icub-cluster script */

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:13:39Z

Plinio:

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:13:15Z

Plinio:

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:12:17Z

Plinio:

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:11:08Z

Plinio:

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:09:53Z

Plinio: /* Installation of visualization pc */

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T16:00:18Z

Plinio: /* Installation of visualization pc */

= Installation of visualization PC =

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

Install YARP from sources. At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

Install icub-main from sources. At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

= Testing the installation =

Open a terminal and issue
yarp-config robot --list
The correct output must list vizzy in the **INSTALLED DATA:
**LOCAL USER DATA:
**SYSADMIN DATA:
**INSTALLED DATA:
* Directory : /home/vizzy/repositories/icub-main/build/share/iCub/robots
default
vizzy

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:58:03Z

Plinio:

= Installation of visualization pc =

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

Install YARP from sources. At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

Install icub-main from sources. At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:56:09Z

Plinio:

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then open a new terminal and create the folder /home/vizzy/repositories

Install YARP from sources. At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

Install icub-main from sources. At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:55:24Z

Plinio:

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:52:16Z

Plinio:

At the computer you want to run gyarpmanager:

Create the user vizzy

Create the file /home/vizzy/.bash_env with the following text

export YARP_ROOT=/home/vizzy/repositories/yarp
export YARP_DIR=$YARP_ROOT/build
export YARP_ROBOT_NAME=vizzy
export icub_firmware_shared_DIR=/home/vizzy/repositories/icub-firmware-shared/build
export ICUB_ROOT=/home/vizzy/repositories/icub-main
export ICUB_DIR=$ICUB_ROOT/build
export YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub
export YARP_COLORED_OUTPUT=1
export YARP_FORWARD_LOG_ENABLE=1
export PATH=$PATH:$ICUB_DIR/bin:$YARP_DIR/bin

Invoke the file at the /home/vizzy/.bashrc script
source ~/.bash_env

Then create the folder /home/vizzy/repositories

Install YARP from sources. At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

Install icub-main from sources. At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), and change the following flags (setting all of them to ON):
ENABLE_icubmod_cartesiancontrollerclient
ENABLE_icubmod_cartesiancontrollerserver
ENABLE_icubmod_debugInterfaceClient
ENABLE_icubmod_gazecontrollerclient
Hit c, then g and issue
make -jX, where X is the number of cores

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:43:14Z

Plinio:

At the computer you want to run gyarpmanager:

Create the user vizzy
Create the folder /home/vizzy/repositories

Install YARP from sources. At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), then c again and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

Install icub-main from sources. At the folder /home/vizzy/repositories
git clone https://github.com/robotology/icub-main.git
cd icub-main
mkdir build
cd build
ccmake ../

Hit c, then e (if needed), then c again and change the following flags (setting all of them to ON):

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:31:16Z

Plinio:

At the computer you want to run gyarpmanager:

Create the user vizzy
Create the folder /home/vizzy/repositories

Install YARP from sources. At the folder /home/vizzy/repositories

git clone https://github.com/robotology/yarp.git
mkdir build
cd build
ccmake ../

Hit e, then c and change the following flags (setting all of them to ON):

CREATE_DEVICE_LIBRARY_MODULES
CREATE_GUIS
CREATE_LIB_MATH
CREATE_OPTIONAL_CARRIERS
ENABLE_YARPRUN_LOG
YARP_COMPILE_BINDINGS

Hit c again and set the following flags to ON:

CREATE_PYTHON
ENABLE_yarpcar_bayer_carrier
ENABLE_yarpcar_rossrv_carrier
ENABLE_yarpcar_tcpros_carrier
ENABLE_yarpcar_xmlrpc_carrier
ENABLE_yarpmod_serial

Hit c twice in a row, then g and issue
make -jX, where X is the number of cores

Install yarp and icub-* repositories at vizzy-desktop

2015-02-26T15:09:37Z

Plinio: Created page with "Install YARP from sources git clone https://github.com/robotology/yarp.git"

Install YARP from sources

git clone https://github.com/robotology/yarp.git

Vizzy

2015-02-26T15:09:00Z

Plinio: /* Software */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

==Tutorials==

* [[Turning on and off the Vizzy robot]].
* [[Turning on the Vizzy cameras]].
* [[Using the Vizzy robot motor gui]].
* [[Using the iKinGazeCtrl with Vizzy]].
* [[Using the iKin Cartesian interface with Vizzy]].
* [[Using the ball tracker with Vizzy]].

==Software==
* [[Install yarp and icub-* repositories at vizzy-desktop]].
* [[Vizzy SVN repository]].
* [[Vizzy Cartesian Interface]].

==Specifications==

* [[Vizzy Hardware]].
* [[Vizzy PC104]].
* [[Vizzy Segway]].
* [[Vizzy Denavit–Hartenberg parameters]].

==Important notes==

* [[TODO: Vizzy priority list]].
* [[Vizzy Vs iCub]].
* [[Vizzy Troubleshoot]].
* [[PID Configuration]].
* [[Camera issues]].
* [[IMU not accessible]].

==Vizzy media==

* [[Vizzy videos]].
* [[media:VizzyPresentation.pdf|Vizzy presentation for the weekly Vislab meeting (27/11/2012)]].

[[Category:Robots]]
[[Category:Vislab]]

Vislab8

2011-11-05T10:38:46Z

Plinio:

Vislab8 is Dario's pc. It hosts an NVIDIA Tesla C1060 GPGPU.

You can access vislab8 by ssh:
ssh vislab@10.0.3.8
The password is the usual one.
The password for the super user (root) is the usual second-level password.

User vislab can use "sudo" to run commands with super user rights:
sudo ls

Device features and configuration:
Device 0: "Tesla C1060"
CUDA Driver Version: 4.0.17 (build 270.41.19) Installed on Nov. 3 2011
CUDA Runtime Version: 4.0.17 Installed on Nov. 3 2011
CUDA Capability Major revision number: 1
CUDA Capability Minor revision number: 3
Total amount of global memory: 4294770688 bytes
Number of multiprocessors: 30
Number of cores: 240
Total amount of constant memory: 65536 bytes
Total amount of shared memory per block: 16384 bytes
Total number of registers available per block: 16384
Warp size: 32
Maximum number of threads per block: 512
Maximum sizes of each dimension of a block: 512 x 512 x 64
Maximum sizes of each dimension of a grid: 65535 x 65535 x 1
Maximum memory pitch: 2147483647 bytes
Texture alignment: 256 bytes
Clock rate: 1.30 GHz
Concurrent copy and execution: Yes
Run time limit on kernels: No
Integrated: No
Support host page-locked memory mapping: Yes
Compute mode: Default (multiple host threads can use this device simultaneously)
Concurrent kernel execution: No
Device has ECC support enabled: No

[[Category:Vislab]]

Vizzy

2011-07-25T09:26:14Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

'''Dragonfly2'''

The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:

chmod a+rw /dev/raw1394

in order to allow all the users to access the firewire devices.

'''Segway RMP 50'''

The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed.

In order to compile Player properly, you may have to edit /usr/include/canlib.h and comment out the definitions for DWORD, HANDLE, and BOOL.

After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:

driver
(
name "linuxjoystick"
provides ["joystick:0" ]
requires ["position2d:0"]
alwayson 1
timeout 0.0
max_speed [ 3.0 3.0 30 ]
port "/dev/input/js0"
)
driver
(
name "segwayrmp"
provides ["position2d:0" "position3d:0" "power:0"]
bus "usb"
usb_device "/dev/ttyUSB0"
max_xspeed 1.5
max_yawspeed 80
)

Then, execute

player <configFileName>

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-07-25T09:25:30Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

'''Dragonfly2'''

The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:

chmod a+rw /dev/raw1394

in order to allow all the users to access the firewire devices.

'''Segway RMP 50'''

The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed.

In order to compile properly Player, you may have to edit /usr/include/canlib.h and comment out the definitions for DWORD, HANDLE, and BOOL.

After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:

driver
(
name "linuxjoystick"
provides ["joystick:0" ]
requires ["position2d:0"]
alwayson 1
timeout 0.0
max_speed [ 3.0 3.0 30 ]
port "/dev/input/js0"
)
driver
(
name "segwayrmp"
provides ["position2d:0" "position3d:0" "power:0"]
bus "usb"
usb_device "/dev/ttyUSB0"
max_xspeed 1.5
max_yawspeed 80
)

Then, execute

player <configFileName>

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

How to install the Xerox WorkCentre 5222 in Linux

2011-07-12T11:19:53Z

Plinio:

It has been tested on Debian squeeze

#In the CUPS administration program, Add a printer
#Then select "Other" printer
#In the URI box type
#:socket://10.0.1.12
#Then select a printer driver from the database
##Generic
##PCL 6/PCL XL LF Printer
#Change the source paper from letter to A4
#Enjoy!

How to install the Xerox WorkCentre 5222 in Linux

2011-06-28T16:18:27Z

Plinio:

#In the CUPS administration program, Add a printer
#Then select "Other" printer
#In the URI box type
#:socket://10.0.1.12
#Then select a printer driver from the database
##Generic
##PCL 6/PCL XL LF Printer
#Change the source paper from letter to A4
#Enjoy!

VisLab book wishlist

2011-06-21T16:06:11Z

Plinio:

* Plasticity in the Visual System: From Genes to Circuits, Raphael Pinaud (Editor), Liisa A. Tremere (Editor), Peter de Weerd, Springer 2006, http://www.amazon.com/Plasticity-Visual-System-Genes-Circuits/dp/0387281894 (*)
* [http://www.springer.com/engineering/robotics/book/978-3-540-23957-4 Springer Handbook of Robotics]. Bruno Siciliano, Oussama Khatib (Editors). Springer, 2008. (**)
* [http://www.amazon.com/Human-Motor-Control-Second-Rosenbaum/dp/0123742269 Human Motor Control], David Rosenbaum. Elsevier/Academic Press, 2010. ()
* [http://www.amazon.co.uk/Designing-Sociable-Intelligent-Robotics-Autonomous/dp/0262025108 Designing Sociable Robots], Cynthia Breazeal. MIT Press, 2002. (*)
* [http://www.amazon.com/Computer-Vision-Approach-David-Forsyth/dp/0130851981 Computer vision, A modern approach], David Forsyth and Jean Ponce.
* [http://www.amazon.fr/Pattern-Recognition-Machine-Learning-Christopher/dp/0387310738/sr=8-1/qid=1158928255/ref=sr_1_1/402-9555855-8053710?ie=UTF8&s=english-books Pattern recognition and machine learning ], Christopher M. Bishop
[[Category:Vislab]]

How to install the Xerox WorkCentre 5222 in Linux

2011-06-21T15:03:28Z

Plinio:

VisLab book wishlist

2011-06-21T14:57:12Z

Plinio:

How to install the Xerox WorkCentre 5222 in Linux

2011-06-21T14:48:17Z

Plinio:

#In the CUPS administration program, Add a printer
#Then select "Other" printer
#In the URI box type
socket://10.0.1.12
#Then select a printer driver from the database
Generic
PCL 6/PCL XL LF Printer

Enjoy!

How to install the Xerox WorkCentre 5222 in Linux

2011-06-21T14:45:16Z

Plinio: New page: In the CUPS administration program, Add a printer Then select other printer In the URI box write socket://10.0.1.12 Then select a printer driver from the database Generic ...

In the CUPS administration program, Add a printer

Then select other printer

In the URI box write

socket://10.0.1.12

Then select a printer driver from the database

Generic
PCL 6/PCL XL LF Printer

Enjoy!

ISR computing resources

2011-06-21T14:39:05Z

Plinio: /* HOW-TO section */

== Important information ==

To create an account, please print and fill in [[Media:User-form.pdf|this PDF form]] and deliver it to the ISR secretariat (7th floor).

The support email contact for the ISR is the following: '''sysadmin''' (at) '''isr.ist.utl.pt'''

== Available services ==

The ISR computer center provides the following services to all ISR users.

* '''Mail''': mailboxes for incoming mail, accessible via IMAP, POP3, and [http://webmail.isr.ist.utl.pt/ Webmail], all secured with SSL (Cyrus IMAP), and authenticated outgoing mail (Sendmail)
** [https://webmail.isr.ist.utl.pt New webmail interface] -- recommended option
** [https://omni.isr.ist.utl.pt/oldwebmail Old webmail interface] -- use it to change your mail password
* '''UNIX accounts''': shell accounts in a Linux server, accessible via SSH protocol, including hosting of personal pages. All accounts are daily backed-up (see below)
* '''Mailing lists''': besides the usual mail alias mechanism, hosting of mailing lists including public/private archives and web administration interface (Mailman software). [http://omni.isr.ist.utl.pt/mailman/listinfo Hosted mailing lists]
* '''Mail filtering''': web interface to edit rules for mail filtering, including ability too discard or move to specific folders, based on pattern matching rules (Sieve). [https://omni.isr.ist.utl.pt/sieve Web interface]
* '''Other services''': SVN, MySQL, FTP mirror

See next section for configuration details.

== Configuration instructions ==

{|
|-
|align="right"| Address || = || ''(assigned by systems administration)''
|-
|align="right"| Network || = || 10.0.0.0
|-
|align="right"| Broadcast || = || 10.0.255.255
|-
|align="right"| Netmask || = || 255.255.0.0
|-
|align="right"| Gateway || = || 10.0.0.254
|-
|align="right"| DNS Domain || = || isrnet
|-
|align="right"| DNS servers || = || 10.0.0.1, 10.0.0.2
|-
|align="right"| DNS search order || = || isrnet, isr.ist.utl.pt, ist.utl.pt
|}

== Available campus licenses ==

Please check [http://ciist.ist.utl.pt CIIST pages] for further information.

== HOW-TO section ==

* [[How to install a network printer]]
* [[How to set duplex printing as default]]
* [[How to install the workCentre 5222 on linux]]
* [[How to create a personal web page]]
* [[How to protect personal web pages with a password]]
* [[How to install (and update) SuSE Linux]] (via network, from ISR mirror)
* [[How to add the ISR address book]]
* [[How to install a printer via a CUPS server]] (this procedure applies to all printers/servers using the LPD protocol)
* [[How to access your desktop computer from outside ISR]]
* [[How to forward all ISR mail to another account]]
* [[How to configure a "out of the office" automated message]]
* [[How to transfer address book from the former to the new webmail platform]]
* [[How to edit SVN configuration files]]
* [[How to use authenticated proxy]]

== Information ==

This section contains miscelaneous reference information regarding ISR network.

* [[IP allocation]]

Vizzy

2011-04-07T15:09:36Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

'''Dragonfly2'''

The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:

chmod a+rw /dev/raw1394

in order to allow all the users to access the firewire devices.

'''Segway RMP 50'''

The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed.

After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:

driver
(
name "linuxjoystick"
provides ["joystick:0" ]
requires ["position2d:0"]
alwayson 1
timeout 0.0
max_speed [ 3.0 3.0 30 ]
port "/dev/input/js0"
)
driver
(
name "segwayrmp"
provides ["position2d:0" "position3d:0" "power:0"]
bus "usb"
usb_device "/dev/ttyUSB0"
max_xspeed 1.5
max_yawspeed 80
)

Then, execute

player <configFileName>

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-04-07T15:09:07Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

'''Dragonfly2'''

The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:

chmod a+rw /dev/raw1394

in order to allow all the users to access the firewire devices.

'''Segway RMP 50'''

The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed.

After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:

driver
(
name "linuxjoystick"
provides ["joystick:0" ]
requires ["position2d:0"]
alwayson 1
timeout 0.0
max_speed [ 3.0 3.0 30 ]
port "/dev/input/js0"
)

driver
(
name "segwayrmp"
provides ["position2d:0" "position3d:0" "power:0"]
bus "usb"
usb_device "/dev/ttyUSB0"
max_xspeed 1.5
max_yawspeed 80
)

Then, execute

player <configFileName>

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-02-04T14:18:20Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

'''Dragonfly2'''

The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:

chmod a+rw /dev/raw1394

in order to allow all the users to access the firewire devices.

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-02-04T14:17:42Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

'''Dragonfly2'''

The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled from sources for this debian version. In addition, we added the following line to the /etc/rc.local script:

chmod a+rw /dev/raw1394

in order to allow all the users to access the firewire devices.

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-02-04T14:01:08Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2/build
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-02-04T14:00:06Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-02-04T13:58:00Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2
export YARP_ROOT=/yarp2

We recommend to add the lines above before the following lines on /etc/bash.bashrc

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

The proper placing of the environment variables will allow to access their values on a non-interactive login.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vizzy

2011-02-04T13:55:25Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

[[Image:Vizzy.jpg‎|right]]

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

It is recommended to add this variable to the /etc/bash.bashrc (as root)

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2
export YARP_ROOT=/yarp2

We recommend to add these lines before

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

in order to access their values on a non-interactive window.

'''Enviroment variables for remote login'''

For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:

/source /etc/bash.bashrc

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]

Vislab

2010-12-21T22:13:15Z

Plinio: /* Past projects */

Institutional information:
http://vislab.isr.ist.utl.pt

Our YouTube channel, containing nice videos and demonstrations:
http://www.youtube.com/user/VislabLisboa

Our internal video page on this wiki:
[[VisLab Videos]]

== Research Topics ==

* Machine Learning
* Computer Vision

== Projects ==

=== Current projects ===

* First-MM - Flexible Skill Acquisition and Intuitive Robot Tasking for Mobile Manipulation (EC FP7, Feb. 2010 - Jul. 2013)
** http://www.first-mm.eu/
* HANDLE - Developmental Pathway Towards Autonomy and Dexterity in Robot In-Hand Manipulation (EC FP7, Feb. 2009 - Feb. 2013)
** http://www.handle-project.eu
** This project aims at providing advanced perception and control capabilities to the Shadow Robot hand, one of the most advanced robotic hands in mechanical terms. We follow some paradigms of human learning to make the system able to grasp and manipulate objects of different characteristics: learning by imitation and by self-exploration. Different object characteristics and usages (object affordances) determine the way the hand will perform the grasping and manipulation actions.
* RoboSoM - A Robotic Sense of Movement (EC FP7, Dec. 2009 - Dec. 2012)
** http://www.robosom.eu/
** This project aims at advancing the state-of-the-art in motion perception and control in a humanoid robot. The fundamental principles to explore are rooted on theories of human perception: Expected Perception (EP) and the Vestibular Unified Reference Frame.

=== Past projects ===

* RobotCub - Robotic Open-Architecture Technology for Cognition, Understanding and Behaviour (EC FP6, Sept. 2004 - Jan. 2010)
** http://www.robotcub.org
* URUS - Ubiquitous Networking Robotics in Urban Settings (EC FP6, Dec. 2006 - Nov. 2009)
** http://urus.upc.es
* CAVIAR - Context-Aware Vision Using Image-Based Active Recognition (EC FP6, 2002 - 2005)
** http://homepages.inf.ed.ac.uk/rbf/CAVIAR/
* MIRROR - Mirror Neurons for Recognition (EC FP5, 2001 - 2004)

== People ==

=== Permanent staff ===

* [http://users.isr.ist.utl.pt/~jasv/ José Santos-Victor]
* [http://users.isr.ist.utl.pt/~alex Alexandre Bernardino]
* [http://users.isr.ist.utl.pt/~jpc/ João Paulo Costeira]
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=2 João Sentieiro]
* [http://users.isr.ist.utl.pt/~jag/ José Gaspar]

=== Researchers ===

* [http://users.isr.ist.utl.pt/~plinio/ Plinio Moreno]
* [http://users.isr.ist.utl.pt/~ricardo/ Ricardo Ferreira]

=== PhD students ===

* Bruno Damas
* Dario Figueira
* [http://users.isr.ist.utl.pt/~gsaponaro/ Giovanni Saponaro]
* Jonas Hörnstein
* Jonas Ruesch
* [http://users.isr.ist.utl.pt/~mtaiana/ Matteo Taiana]
* Nuno Moutinho
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=105 Pedro Ribeiro]
* Ravin DeSouza ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Sébastien Gay ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Urbain Prieur (IST-UPMC)

=== Master's students ===

* Ashish Jain
* Duarte Aragão
* João Pimentel
* Lester García
* Martim Brandão
* Tayebeh Razmi

=== Other staff ===

* Ana Santos (administrative)
* Nuno Conraria (engineering)
* Ricardo Nunes (engineering)

=== Miscellaneous and past members ===

* Afshin Dehghan
* Anastácia Rodrigues (administrative)
* António Bastos
* Bruno Dias
* [http://roboticslab.uc3m.es/roboticslab/persona.php?id_pers=42 Carla González], Universidad Carlos III de Madrid, Spain
* Carlo Favali, visiting PhD student, University of Genoa, Italy
* Carlos Carreira, University of Valencia, Spain
* César Silva, Ph.D. (2001)
* Christian Wressnegger
* Claudia Deccó, visiting PhD student, University of São Paulo, Brazil
* Cláudia Soares
* Daniel Matter, IAESTE intern
* Diego Ortin Trasobares, visiting PhD student, University of Zaragoza, Spain
* Etienne Grossmann
* Eval Bacca Cortes, visiting MSc student, University of Cali, Colombia
* Freek Stulp, visiting researcher, University of Groningen, The Netherlands and University of Edinburgh, UK
* [http://www.speech.kth.se/~giampi/ Giampiero Salvi], Royal Institute of Technology, Sweden
* Gianluca De Leo, University of Genoa, Italy
* Ivana Cingovksa, IAESTE intern
* [http://webdiis.unizar.es/~jminguez/ Javier Minguez], visiting PhD student, University of Zaragoza, Spain
* [http://users.isr.ist.utl.pt/~maciel/ João Maciel], Ph.D. (2002)
* José Eduardo Vianna, Universidade Federal do Espírito Santo, Brazil
* Kristijan Petkov, summer 2010 IAESTE intern
* Lenildo Silva, visiting PhD student, Universidade Federal do Rio de Janeiro, Brazil
* Luís Jordão
* [http://webdiis.unizar.es/~montesan/ Luis Montesano]
* Luís Vargas
* [http://www.isr.ist.utl.pt/~macl Manuel Lopes]
* Marco Zucchelli, visiting PhD student, Royal Institute of Technology, Sweden
* Maria Nazarycheva
* Matteo Perrone, University of Genoa, Italy
* Mauricio Arias, Escuela de Ingeniería de Antioquia, Colombia
* Miguel Praça
* Mišél Batmendijn
* Mohit Khurana, summer 2008 intern
* Niall Winters, visiting PhD student, Trinity College, Dublin, Ireland
* [http://nicolagreggio.altervista.org/ Nicola Greggio], Sant'Anna School of Advanced Studies, Pisa, Italy
* Nuno Gracias
* Nuno Pinho
* [http://www.gatv.ssr.upm.es/index.php/en/component/content/article/62 Nuria Sánchez], Universidad Politécnica de Madrid, Spain
* Raquel Vassallo, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* Ricardo Beira
* [http://users.isr.ist.utl.pt/~rco/ Ricardo Oliveira]
* Roberto Iannello, University of Genoa, Italy
* Roger Castro Freitas, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* [http://users.isr.ist.utl.pt/~rmcantin Rubén Martínez-Cantín]
* Sandra Nope Rodríguez
* Sjoerd van der Zwaan, M.Sc. (2001)
* Vicente Javier Traver
* Verica Krunić
* Vítor Costa, M.Sc. (1999)

== Robots ==

* [[Baltazar]]
* [[Chico]] (iCubLisboa01)
* [[Chica]]
* [[Vizzy]]

== Other resources ==

=== Cortex cluster ===

''For information on the setup of this cluster, see [[Cortex]].''

=== Demos ===

* [[Binocular Head]]
* [[Imitation]]
* [[Surveillance]]

=== iCubBrain cluster ===

''For information on the setup of this cluster, see [[iCubBrain server configuration]].''

=== Network ===

{|
!description
!IP address
!domain name
|-
|gateway
|10.10.1.254
|gtisr.visnet
|-
|Chico pc104
|10.10.1.50
|
|-
|Chico clients
|10.10.1.51-59
|
|-
|Chico icubsrv laptop
|10.10.1.51
|
|-
|Chica net
|10.10.1.60-69
|
|-
|Balta net
|10.10.1.70-79
|
|-
|cortex server
|10.10.1.240
|server.visnet
|-
|cortex switch
|10.10.1.250
|swcompurack.visnet
|-
|vislab switch
|10.10.1.251
|swvislab.visnet
|-
|cortex1
|10.10.1.1
|cortex1.visnet
|-
|cortex2
|10.10.1.2
|cortex2.visnet
|-
|cortex3
|10.10.1.3
|cortex3.visnet
|-
|cortex4
|10.10.1.4
|cortex4.visnet
|-
|cortex5
|10.10.1.5
|cortex5.visnet
|-
|cortex6 (64 bit)
|10.10.1.6
|cortex6.visnet
|-
|icubbrain1 (64 bit)
|10.10.1.41
|icubbrain1.visnet
|-
|icubbrain2 (32 bit)
|10.10.1.42
|icubbrain2.visnet
|-
|DHCP range
|10.10.1.100-199
|
|}

''For further details, go to the [[VisLab network]] article.''

=== SVN repository ===

You can find the VisLab SVN repository at:
svn://svn.isr.ist.utl.pt/vislab

=== Tutorials ===

* [[3D ball tracker]]

=== Useful links ===

* [[Checklist for new VisLab members]]
* YARP for iCub: [[RobotCub coding basics]]
* iCub Joints: http://eris.liralab.it/wiki/ICub_joints
* iKinArmCtrl: http://eris.liralab.it/iCub/dox/html/group__iKinArmCtrl.html
* [[Temp 2010-11 iCub system update]]

== VisLab category ==

The page ''Category:Vislab'' (linked below) lists all pages related to VisLab.

[[Category:Learning]]
[[Category:Robots]]
[[Category:Vislab]]

Pc104

2010-11-22T17:45:19Z

Plinio: /* Repositories on icubsrv laptop */

''See [[pc104/Archive]] for information about the Ubuntu Server installation and tests that we performed in May 2009, to try to get rid of the laptop dependency. There were still a couple of unresolved issues with that method (dragonfly cameras and Canbus), therefore for the time being we went back to the original setup, explained next.''

The '''pc104 CPU board''' is located into the iCub's head.

It boots from a read-only memory (using a [http://debian-live.alioth.debian.org/ Debian Live distribution]), therefore it is necessary to mount an external partition to make permanent changes to files and perform basic I/O. This is accomplished by mounting an external partition on the pc104 at boot time.

== Booting and Mounting ==

After booting, the pc104 mounts a part of the hard-disk of '''icubsrv''' (the Dell XPS laptop, IP address <code>10.10.1.51</code>).

After that, it runs the scripts that are found in icubsrv's <code>/exports/code-pc104/pc104/hooks</code> directory. You can use those scripts for making some configuration permanent on pc104 and/or to run programs. They set up the yarp namespace, configure the keys for passwordless log-ins, etc.

=== Repositories on icubsrv laptop ===

Note that the icubsrv laptop has 2 repositories:
* <code>/exports/code-64</code> for the laptop itself (compiled for 64bit, rarely used)
* <code>/exports/code-pc104</code> for pc104 (compiled for 32bit)

Therefore, if you want to update the repository used by pc104, you need to:
# open a pc104 shell window
# open an icubsrv shell window
# on icubsrv: <code>svn update /exports/code-pc104/yarp2</code> and <code>/exports/code-pc104/iCub</code> (for now we need to do this from icubsrv because the version of svn on pc104 is too old)
# on pc104: build <code>$YARP_ROOT</code> and <code>$ICUB_ROOT</code> (the files are physically on icubsrv, but we need to issue the command from pc104 to obtain 32bit binaries)

== About the hook scripts ==

The common version of the hook scripts is located in the RobotCub repository, under <code>/usr/local/src/robot/iCub/pc104/startupscripts/opencall/hooks</code> (available, for example, on icubsrv). The procedure is to copy them to icubsrv's <code>/exports/code-pc104/pc104/hooks</code> and then to customize VisLab-specific settings there.

== See also ==

* [http://eris.liralab.it/wiki/Compilation_on_the_pc104 Compilation on the pc104]
* [http://eris.liralab.it/wiki/The_Linux_on_the_pc104 The Linux on the pc104]

[[Category:Vislab]]

Vizzy

2010-11-17T16:21:21Z

Plinio: /* Computation power */

Vizzy is a nice and new robot.

=Plan=

'''1week - 29May'''

Head cabling done

Motor control board fixation projected

'''2week'''

Definition of computation power, check if iCub version is enough

'''3week'''

One shoulder/arm + hand cabled to test

Control board supports built and ready

Shell completly projected

'''4week'''

=Hardware=

==Motors==

Faulhaber motors

==Shell==

Still missing the project of one connection

==Cabling==

Where to connect the cameras???? Sensors???

==Computation power==

'''Debian Linux installation on the PC104'''

Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)

Linux version 2.6.24-etchnhalf.1-686

The repositories of this version are not online anymore, so in order to install the system, you should:

*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

'''Installation of PCAN bus driver'''

The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,

1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:

PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi

2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.

3) Compilation of the iCub repository, which it needs to enable the follwing flags:

ENABLE_icubmod_pcan
ENABLE_icubmod_canmotioncontrol
ENABLE_icubmod_dragonfly2
ENABLE_icubmod_logpolarclient
ENABLE_icubmod_logpolargrabber
ENABLE_icubmod_xsensmtx

ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.

'''Start up script for PCAN bus driver'''

Add the following lines to /etc/rc.local script:

declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"

The lines above allow the PLX module loading during the pc104 boot.

'''Enviroment variables for running the iCubInterface'''

Add the following lines to /etc/bash.bashrc (as root)

export ICUB_DIR=/iCub
export ICUB_ROOT=/iCub
export YARP_DIR=/yarp2
export YARP_ROOT=/yarp2

==Motor Control Boards==

===Head===
2x M4C, 1 MCP
status electric specification: projected
status fixation: done

===Torso and Shoulder===

status electric specification: projected, one may be short in current
status fixation: projected, under verification

===Hands===

status electric specification: projected
status fixation: under project

==Battery==

Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm

Charger:?

==Segway==

Software to be developed

Payload is over the limit, check

==Sensors==

===Cameras===

Dragonfly2

===Inertial sensor===

XSens

===Expressions===

Shapes, aesthetics, done

Under definition supports, electronic, ...

===Tactile sensors===

Still some parts missing, magnets

Sensors bought

Electronic board, waiting for PCB, ...

Software under development

http://www.pressureprofile.com/products-fingertps

===Laser===

Kyoko

Fixation: inside front cover

[[Category:Robots]]
[[Category:Vislab]]
[[Media:Example.ogg]]