BallFollowingDemo - Revision history

Mtaiana: /* Quitting the demo */

2009-04-17T16:54:29Z

Quitting the demo

← Older revision		Revision as of 16:54, 17 April 2009
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	as demo@cortex?:		as demo@cortex?:
	cd 0.icub_3D_ball_tracker		cd 0.icub_3D_ball_tracker
	./6.disconnect_all.sh		./7.disconnect_all.sh

	1 - Kill all the processes of the demo		1 - Kill all the processes of the demo

2009-04-17T16:54:16Z

added one step: facial expressions

← Older revision		Revision as of 16:54, 17 April 2009
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	yarpview /viewer		yarpview /viewer

	4 - Run the module that converts coordinates between reference frames (left eye to root).
			4 - Run the module that controls the expressions

			as demo@cortex1:
			cd 0.icub_3D_ball_tracker
			./3.execute_trackerExpressions.sh

			5 - Run the module that converts coordinates between reference frames (left eye to root).

	as demo@cortex1:		as demo@cortex1:
	cd 0.icub_3D_ball_tracker		cd 0.icub_3D_ball_tracker
	./4.execute_LeftEyeToRoot.sh		./5.execute_LeftEyeToRoot.sh

	5 - Run the module that computes the inverse kinematics for the arm.		6 - Run the module that computes the inverse kinematics for the arm.

	as demo@cortex1:		as demo@cortex1:
Line 45:		Line 52:
	./iKinArmCtrl --onlyXYZ		./iKinArmCtrl --onlyXYZ

	6 - Connect all ports. CAREFUL: the robot should start moving after this step.		7 - Connect all ports. CAREFUL: the robot should start moving after this step.

	as demo@cortex1:		as demo@cortex1:
	cd 0.icub_3D_ball_tracker		cd 0.icub_3D_ball_tracker
	./3.LEFT.iCub_connect_ports.sh		./4.LEFT.iCub_connect_ports.sh
	./5.connect_LeftEyeToRoot.sh		./6.connect_LeftEyeToRoot.sh

	7 - OPTIONAL - Read the 3D position of the ball in the root reference frame		8 - OPTIONAL - Read the 3D position of the ball in the root reference frame

	as anybody@anywhere		as anybody@anywhere

2009-04-06T16:12:26Z

Running the demo

← Older revision		Revision as of 16:12, 6 April 2009
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	== Preliminaries ==		== Preliminaries ==

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	as anybody@anywhere		as anybody@anywhere
	yarp read ... /LeftEyeToRoot/ballPositionOut		yarp read ... /icub/LeftEyeToRoot/ballPositionOut


	== Putting the demo on hold ==		== Putting the demo on hold ==

2009-03-31T19:30:46Z

← Older revision		Revision as of 19:30, 31 March 2009
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	== Preliminaries ==		== Preliminaries ==

Line 56:		Line 57:
	as anybody@anywhere		as anybody@anywhere
	yarp read ... /LeftEyeToRoot/ballPositionOut		yarp read ... /LeftEyeToRoot/ballPositionOut


	== Putting the demo on hold ==		== Putting the demo on hold ==

2009-03-31T19:30:21Z

← Older revision		Revision as of 19:30, 31 March 2009
Line 9:		Line 9:

	If you need to stop the robot at any time, just press the red button.		If you need to stop the robot at any time, just press the red button.


	== Running the demo ==		== Running the demo ==
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	as anybody@anywhere		as anybody@anywhere
	yarp connect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i		yarp connect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i




Line 86:		Line 85:

	you can quit the various processes of this demo in any order.		you can quit the various processes of this demo in any order.



	Back to the main page for Chico: [[Chico]].		Back to the main page for Chico: [[Chico]].

2009-03-31T19:29:48Z

← Older revision		Revision as of 19:29, 31 March 2009
Line 9:		Line 9:

	If you need to stop the robot at any time, just press the red button.		If you need to stop the robot at any time, just press the red button.

	~~Back to the main page for Chico: [[Chico]].~~

	== Running the demo ==		== Running the demo ==
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	you can quit the various processes of this demo in any order.		you can quit the various processes of this demo in any order.

			Back to the main page for Chico: [[Chico]].

2009-03-31T16:46:53Z

← Older revision		Revision as of 16:46, 31 March 2009
Line 61:		Line 61:

	So you have the demo running and you want to "pause" it for a while and then get it back working.		So you have the demo running and you want to "pause" it for a while and then get it back working.
	You can do this easily disconnecting two ports and connecting them again.		You can do this easily by disconnecting two ports and then connecting them again.
	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.		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.

2009-03-31T16:46:04Z

← Older revision		Revision as of 16:46, 31 March 2009
Line 57:		Line 57:
	as anybody@anywhere		as anybody@anywhere
	yarp read ... /LeftEyeToRoot/ballPositionOut		yarp read ... /LeftEyeToRoot/ballPositionOut

			== Putting the demo on hold ==

			So you have the demo running and you want to "pause" it for a while and then get it back working.
			You can do this easily disconnecting two ports and connecting them again.
			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.

			0. Pause

			as anybody@anywhere
			yarp disconnect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i

			1. Resume

			as anybody@anywhere
			yarp connect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i




	== Quitting the demo ==		== Quitting the demo ==

	0 - ~~Disconnecting everything~~. THIS WILL STOP THE ROBOT.		0 - Disconnect all the ports. THIS WILL STOP THE ROBOT.

	as demo@cortex?:		as demo@cortex?:
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	./6.disconnect_all.sh		./6.disconnect_all.sh

	1 - ~~Killing~~ all the processes of the demo		1 - Kill all the processes of the demo

	you can quit the various processes of this demo in any order.		you can quit the various processes of this demo in any order.

2009-03-31T16:40:29Z

Preliminaries

← Older revision		Revision as of 16:40, 31 March 2009
Line 9:		Line 9:

	If you need to stop the robot at any time, just press the red button.		If you need to stop the robot at any time, just press the red button.

			Back to the main page for Chico: [[Chico]].

	== Running the demo ==		== Running the demo ==

2009-03-31T16:36:35Z

@@ Line 1: / Line 1: @@
 This demo uses the LEFT EYE and RIGHT ARM of the iCub, plus TWO CORTEX COMPUTERS.
 It needs the left eye to run at a resolution of 320x240.
@@ Line 5: / Line 7: @@
 We will use Cortex1 and Cortex2 in the wiki.
 The CPU's of Cortex2 will be fully loaded running the tracker, while those of Cortex1 will have a ~60% load.
 - Turn on the iCub: cameras, iCubInterface, etc.
@@ Line 45: / Line 51: @@
           ./5.connect_LeftEyeToRoot.sh
 - OPTIONAL - Read the 3D position of the ball in the root reference frame
           as anybody@anywhere
           yarp read ... /LeftEyeToRoot/ballPositionOut