View source for ICub instructions/Archive

''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to '''[[iCub demos]]'''.''

= Useful things to archive =

== Desktop icons to launch the Application Manager and XMLs ==

Example: '''cameras.sh icon''' (to be placed in <code>~/Desktop/</code>) contains:

=== 2011 version ===

  #!/bin/bash
  source ~/.bash_env
  cd $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts
  manager.py cameras_320x240_setForTracking.xml

=== 2010 version ===

  #!/bin/bash
  source ~/.bash_env
  cd $ICUB_ROOT/app/default/scripts
  ./manager.py cameras_320x240.xml

Note that Resource Finder searches for XMLs in <code>$ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/</code> first, then in a number of other directories.

= 2012 archive =

== Shutting off the robot ==

=== Software side ===

* Go to the (yellow) [[pc104]] iCubInterface shell window and stop the program hitting '''ctrl+c''', just '''once'''. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, hit ctrl+c more times and be ready to hold Chico's chest since the head may fall to the front.)
* Optionally, shut down the [[pc104]] gracefully by typing this in the yellow pc104 shell window: <code>sudo shutdown -h now</code>

== Other components ==

=== Cameras ===

* Double-click the '''cameras.sh icon''' on chico3 desktop and select 'Run'
* Run modules and connect

=== iCubInterface ===

click on the '''iCubStartup.sh''' icon (formerly known as cartesian_solver.sh), running its modules. You should start at least the first module (iCubInterface, as shown in the following picture) and optionally the other modules, depending on your demo.

=== Cartesian Solvers, Gaze Control, wholeBodyDynamics ===

The iCubStartup window has a number of different modules that you can start. Normally, you do not need to run all of them. Only the iCubInterface part is necessary for all demos. The additional modules, depending on what you want to do, are reflected in this picture:

[[Image:ICubStartup.png]]

=== Facial expression driver ===

* Double-click the '''EMOTIONS1''' icon on chico3 desktop and select 'Run'
* Finally, run modules and connect. It should look similar to this:

[[Image:Face_expressions_app_mgr.png]]

=== Skin GUI ===

* Double-click the '''skinGuiRightArm''' icon on chico3 desktop and select 'Run'
* Finally, run modules and connect.

At this point, the '''driftPointGuiRight''' window should look like this:

[[Image:DriftCompGuiRight connected.png]]

and the '''iCubSkinGui''' window will display the fingertip/skin tactile sensors response:

[[Image:ICubSkinGui example.png]]

See also: http://eris.liralab.it/viki/images/c/cd/SkinTutorial.pdf

== Specific demos ==

=== Ball tracking and grasping (demoGrasp) ===

* '''iCubStartup.sh'''; start modules and make connections
* Run '''camerasSetForTracking.sh''' (not cameras.sh!) from the chico3 desktop icon; start modules and make connections
* Optionally, start the [[#Facial expression driver | facial expression driver]] ('''EMOTIONS1''' icon)
* Finally, run the '''demoGrasp.sh''' icon and use the Application Manager interface to start the modules and make the connections

=== Yoga demo ===

* Click on the '''yoga.sh''' icon and run the module

=== Facial expression demo ===

= 2011 archive =

== Specific demos ==

=== Ball tracking and reaching (demoReach) ===

'''This demo uses an old module compiled with some hacks, use the grasping demo instead.'''

* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* Start [[#iCubInterface | iCubInterface]] on the [[pc104]]
* Run '''camerasSetForTracking.sh''' (not cameras.sh!) from the chico3 desktop icon; start modules and make connections
* Finally, run the '''demoReach_LeftHand.sh''' icon and use the Application Manager interface to start the modules and make the connections

Note that this demo launches the left eye camera with special parameter values:
  brightness 0
  sharpness 0.5
  white balance red 0.474      // you may need to lower this, depending on illumination
  white balance blue 0.648 
  hue 0.482
  saturation 0.826
  gamma 0.400
  shutter 0.592
  gain 0.305

=== Ball tracking and grasping (demoGrasp) ===

* Run iKinGazeCtrl via command line on one of the iCubBrains.

=== Yoga demo ===

* On any machine, type:
   iCubDemoY3 --config /app/demoy3/fullBody.txt

= 2010 archive =

== Starting YARP components ==

In case that (i.e., cluster_manager.sh) did not work, you can launch the program in a terminal:

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

== Cameras ==

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

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

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

== Face expression driver ==

Open a [[pc104]] console and type:

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

== Facial expression demo ==

Run '''one''' of these two commands on any machine:
  $ICUB_DIR/app/faceExpressions/scripts/cycle.sh
or
   yarp rpc /icub/face/emotions/in

   set all hap      // full face happy
   set all sad      // full face sad
   set all ang      // full face angry
   set all neu      // full face neutral
   set mou sur      // mouth surprised
   set eli evi      // eyelids evil
   set leb shy      // left eyebrow shy
   set reb cun      // right eyebrow cunning
   set all ta1      // mouth talking position 1 (mouth closed)
   set all ta2      // mouth talking position 2 (mouth open)

== iCubInterface ==

Alternatively, you can start it manually, typing '''one''' of these commands on a [[pc104]] console (depending if any limb is broken):

{| class="wikitable" border="1"
|-
!  command
!  notes
|-
|  <code>iCubInterface --from iCubInterfaceSimple.ini</code>
|  without Cartesian interface - usually, we launch the program this way
|-
|  <code>iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini</code>
|  without Cartesian interface, left arm disabled
|-
|  <code>iCubInterface --from iCubInterfaceSimpleRightArmDisabled.ini</code>
|  without Cartesian interface, right arm disabled
|-
|  <code>iCubInterface</code>
|  with [http://eris.liralab.it/iCub/dox/html/icub_cartesian_interface.html Cartesian interface]. Equivalent to <code>--from iCubInterface.ini</code> and <code>--from iCubInterfaceCartesian.ini</code>
|-
|  <code>iCubInterface --from iCubInterfaceCartesianLeftArmDisabled.ini</code>
|  with Cartesian interface, left arm disabled
|-
|  <code>iCubInterface --from iCubInterfaceCartesianRightArmDisabled.ini</code>
|  with Cartesian interface, right arm disabled
|}

Keep the [[pc104]] shell window open or minimize it; you will use it again when you quit iCubInterface. For instructions about quitting, refer to section [[#Shutting off the robot]].

= Innovation Days 2009 archive =

== Other components ==

=== Cameras ===

Open a chico3 console and type:
   cd $ICUB_ROOT/app/default/scripts
   ./cameras start

Sometimes we need to manually establish these connections in order for images to display:
   yarp connect /icub/cam/right /icub/view/right
   yarp connect /icub/cam/left /icub/view/left

To turn off the cameras:
   ./cameras stop

To change the size of images:
   nano -w $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/config.sh   ''// TODO: check if we are really using $ICUB_ROBOTNAME and not default''

== Ball tracking and reaching demo, old method ==

* Run image rectifier on '''icubbrain2'''
   cd 13.FIL
   ./0.LEFT_320x240_image_rectifier.sh
* Set left camera colour parameters and run tracker
   cd 13.FIL
   ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
   ./2.execute_the_tracker.sh
* Start a viewer on chico3
   yarpview /viewer
* Start the facial expression driver on the [[pc104]]:
   cd $ICUB_DIR/app/faceExpressions/scripts
   ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf
* Run expression decision module
   cd 13.FIL
   ./3.execute_trackerExpressions.sh
* Run coordinate transformation module
   cd 13.FIL
   ./5.execute_LeftEyeToRoot.sh
* Run arm inverse kinematics module (this ''must'' run on icubbrain2)
   iKinArmCtrl --onlyXYZ
* Connect all ports. Careful: the robot will start moving after this step!
   cd 13.FIL
   ./4.LEFT.iCub_connect_ports.sh
   ./6.connect_LeftEyeToRoot.sh
* [OPTIONAL, FOR DEBUG] Read the 3D position of the ball in the root reference frame (from any machine)
   yarp read ... /icub/LeftEyeToRoot/ballPositionOut

== Ball tracking and reaching demo, not so old method ==

This demo uses the left eye and the right arm of Chico. Assumption: left eye is running at a resolution of 320x240 pixels. Attention: make sure that the launcher uses '''icubbrain2''' (32bit) or any of the 32-bit Cortexes for the kinematics computation.

These dependencies will be checked by the GUI:
* [[#Cameras | cameras]] are running
* [[#iCubInterface | iCubInterface]] is running

You need to set the color parameters of the camera using the framegrabberGui (left eye) to the following. Be careful, though, that the first time that you move any slider the action typically does not work. You have to move the slider first to a random position and then to the desired one.
  brightness 0
  sharpness 0.5
  white balance red 0.474
  white balance blue 0.648 
  hue 0.482
  saturation 0.826
  gamma 0.400
  shutter 0.592
  gain 0.305

On chico3 type:
   cd $ICUB_ROOT/app/default/scripts
   ./manager.py $ICUB_ROOT/app/demoReach_IIT_ISR/scripts/isr/demoReach_IIT_ISR_RightHand.xml

Notes:
* the aforementioned XML file configures a system that moves the head and right arm of the robot. There exist also an XML file for moving juste the head and the left hand (<code>demoReach_IIT_ISR_LeftHand.xml</code>), one which moves just the head (<code>demoReach_IIT_ISR_NoHand.xml</code>) and one which only starts the tracker, so it moves nothing (<code>demoReach_IIT_ISR_JustTracker.xml</code>).
* you still need to set the camera parameters using framegrabberGui, we're trying to make that automatic.

=== Pausing the Ball Following demo ===

You can do this by disconnecting two ports (and connecting them again when you want to resume the demo).

Note that this will only stop the positions from being sent to the inverse kinematics module (and thus, almost always, it will stop the robot). The rest of the processes (e.g., the tracker) will keep running. 

* Pause (from any machine)
   yarp disconnect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i

* Resume (from any machine)
   yarp connect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i

=== Quitting the Ball Following demo ===

* Disconnect all ports. Careful: this will stop the robot.
   cd 13.FIL
   ./7.disconnect_all.sh
* Quit/Kill the processes of the demo, in any order.

== SIFT Object Detection and Tracking demo ==

Ignore this for now, as some libraries are not compiling.
''[controlGaze2 COMPILATION TO BE FIXED ON THE SERVERS - PROBLEMS WITH EGOSPHERELIB_LIBRARIES and PREDICTORS_LIBRARIES]''

Assumptions:
* [[#Cameras | cameras]] are running
* [[#iCubInterface | iCubInterface]] is running at /icub/head (in order to read encoder values)

On any machine, run:
   $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/controlGazeManual.sh
   $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/attentionObjects/noEgoSetup/CalibBothStart.sh

On any machine (preferably one of the icubbrains, at this task is computationally heavy) type:
   $ICUB_DIR/app/$ICUB_ROBOTNAME/scripts/attentionObjects/noEgoSetup/startSiftObjectRepresentation.sh

If you want to change the configuration, do:
   nano -w $ICUB_DIR/app/$ICUB_ROBOTNAME/conf/icubEyes.ini

== Attention system demo ==

Assumptions:
* [[#Cameras | /icub/cam/right]] is running at 320x240 pixels
* [[#iCubInterface | iCubInterface]] is running at /icub/head

Please note: we will run all the modules of this demo on '''icubbrain1''' (64bit), unless specified differently.

Start the following module:
   cd $ICUB_ROOT/app/attentionDistributed/scripts
   ./camCalibRightManual.sh

Then:
   cd $ICUB_ROOT/app/attentionDistributed/scripts/
   ./salienceRightManual.sh

Then:
   cd $ICUB_ROOT/app/attentionDistributed/scripts
   ./egoSphereManual.sh

Then:
   cd $ICUB_ROOT/app/attentionDistributed/scripts
   ./attentionSelectionManual.sh

Then:
   cd $ICUB_ROOT/app/attentionDistributed/scripts/
   ./controlGazeManual.sh

And finally, but this time on chico3:
   cd $ICUB_ROOT/app/attentionDistributed/scripts
   ./appGui.sh

Press 'check all ports and connections', followed by pressing '>>' buttons (becoming green), in all the tabs of the GUI.

Now, in the 'Salience Right' tab of the GUI, press 'Initialize interface' and move the thresholds a bit (e.g., the 'intensity' one).