ICubHealthCheckupWeek 03 2011 - Revision history

Giovanni Saponaro: update link

2015-05-25T11:02:32Z

update link

← Older revision		Revision as of 11:02, 25 May 2015
Line 73:		Line 73:
	[[Image:kernelPanic.jpg]]		[[Image:kernelPanic.jpg]]

	There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[~~ICub_demos~~#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. <font color=red> The arm moves very slowly. </font>The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal. <font color=green> Ugo Pattacini said the movement of the head is intended to be like that.</font>		There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_instructions#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. <font color=red> The arm moves very slowly. </font>The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal. <font color=green> Ugo Pattacini said the movement of the head is intended to be like that.</font>

	[[Image:headRoll.jpg]] See the video at [http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov].		[[Image:headRoll.jpg]] See the video at [http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov].

Ajain: March 7, 2011

2011-03-11T19:34:09Z

March 7, 2011

← Older revision		Revision as of 19:34, 11 March 2011
Line 78:		Line 78:

	Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.		Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.

			= March 7th 2011, 15:00 =
			* 2011-03-07: iCubInterface is shutting down gracefully. Was due to zombie processes (iKinCartesianSolvers on the icubbrain2). [The problem was trivial but I am not deleting these posts as it might help in troubleshooting in the future]. By the way, there are still some Can Errors on Boards 1 and 6.
			* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).
			From the iCubInterface:-
			pcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.03[ms]
			Can Errors -- Device Tx:1 Rx:0 TxOvf: 1 RxOvf BusOff: 0 -- Driver Fifo Tx:0 Rx:0
			pcan [0] printing boards errors:
			None
			pcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.04[ms]
			Can Errors -- Device Tx:2 Rx:0 TxOvf: 2 RxOvf BusOff: 81 -- Driver Fifo Tx:0 Rx:81
			pcan [2] printing boards errors:
			None

			* 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),
			* 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)
			* 2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10
			* 2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted
			* 2011-03-07: right arm fixed
			* 2011-03-07: right arm broken (cable broken near the elbow)

	= March 9th 2011, 15:00 =		= March 9th 2011, 15:00 =

Mtaiana: /* Demo 2 yoga with non-cartesian iCubInterface */

2011-03-09T15:19:51Z

Demo 2 yoga with non-cartesian iCubInterface

← Older revision		Revision as of 15:19, 9 March 2011
Line 56:		Line 56:
	pcan [0] joint 8, warning not enough encoder messages (received 0 msgs)		pcan [0] joint 8, warning not enough encoder messages (received 0 msgs)
	pcan [0] joint 9, warning not enough encoder messages (received 0 msgs)		pcan [0] joint 9, warning not enough encoder messages (received 0 msgs)
	in the robotMotorGui you can change the position of the torso joints, but the robot does not move. Everything else is moving OK, but the left hand last two fingers: they move with a lag and very slowly.		in the robotMotorGui you can change the position of the torso joints, but the robot does not move. <font color=red>Everything else is moving OK, but the left hand last two fingers: they move with a lag and very slowly.</font>
	After a while the errors disappeared (without restarting the iCubInterface) and the robotMotorGui was able to control the robot. The problems with the last two fingers of the left hand persisted. Interestingly, opening the fingers with the gui slider is much slower than using the "home all" button. Is this an issue related to open-loop control vs closed-loop control?		After a while the errors disappeared (without restarting the iCubInterface) and the robotMotorGui was able to control the robot. The problems with the last two fingers of the left hand persisted. Interestingly, opening the fingers with the gui slider is much slower than using the "home all" button. Is this an issue related to open-loop control vs closed-loop control?
	After waiting a bit more, the torso problem came back.		After waiting a bit more, the torso problem came back.

Mtaiana: /* March 9th 2011, 15:00 */

2011-03-09T15:18:11Z

March 9th 2011, 15:00

← Older revision		Revision as of 15:18, 9 March 2011
Line 81:		Line 81:
	= March 9th 2011, 15:00 =		= March 9th 2011, 15:00 =
	Trying to understand what causes the arm to move slowly in the grasping demo.		Trying to understand what causes the arm to move slowly in the grasping demo.
	I run the reaching demo, the arm was moving normally. I kept the iCubInterface on, started the Cartesian solvers for the arms and started the grasping demo. The arm moves slowly. When the ball is recognized, the Cartesian solver uses 101% of a CPU core. When the ball disappears, the solver uses only a fraction of that, but the arm still moves slowly.		I run the reaching demo, the arm was moving normally. I kept the iCubInterface on, started the Cartesian solvers for the arms and started the grasping demo. <font color=red>The arm moves slowly. When the ball is recognized, the Cartesian solver uses 101% of a CPU core. When the ball disappears, the solver uses only a fraction of that, but the arm still moves slowly.</font>

	= Next demos =		= Next demos =
	* try out the attention demo		* try out the attention demo
	* the modules written by Martim should be committed to the repository and integrated in the grasp demo		* the modules written by Martim should be committed to the repository and integrated in the grasp demo

Mtaiana at 15:17, 9 March 2011

2011-03-09T15:17:31Z

← Older revision		Revision as of 15:17, 9 March 2011
Line 78:		Line 78:

	Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.		Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.

			= March 9th 2011, 15:00 =
			Trying to understand what causes the arm to move slowly in the grasping demo.
			I run the reaching demo, the arm was moving normally. I kept the iCubInterface on, started the Cartesian solvers for the arms and started the grasping demo. The arm moves slowly. When the ball is recognized, the Cartesian solver uses 101% of a CPU core. When the ball disappears, the solver uses only a fraction of that, but the arm still moves slowly.

	= Next demos =		= Next demos =
	* try out the attention demo		* try out the attention demo
	* the modules written by Martim should be committed to the repository and integrated in the grasp demo		* the modules written by Martim should be committed to the repository and integrated in the grasp demo

Mtaiana: /* Demo 1: old ball reaching */

2011-03-09T15:13:12Z

Demo 1: old ball reaching

← Older revision		Revision as of 15:13, 9 March 2011
Line 8:		Line 8:
	* cameras (camerasSetForTracking.sh) started normally and operated at ~30fps.		* cameras (camerasSetForTracking.sh) started normally and operated at ~30fps.
	* iCubInterface (iCuyebInterface --from iCubInterfaceSimple.ini) started normally and reported zero errors.		* iCubInterface (iCuyebInterface --from iCubInterfaceSimple.ini) started normally and reported zero errors.
	* demoReach_LeftHand_RightEye.sh started normally,<font color=red> but images were shown at ~26fps instead of 30. The tracker module is shown as using 107% of the computing power of a core, this should be under 100%.tracking works, but is not perfect: even when the ball is still, the likelihood is not over the threshold (yellow ring instead of green ring). There is evident overshooting in the movement of the eyes and of the head. '''All these problems might be caused by the fact that in this demo we are using a hacked version of a module, because it is not in the main branch of the repository'''.</font>		* demoReach_LeftHand_RightEye.sh started normally,<font color=red> but images were shown at ~26fps instead of 30. The tracker module is shown as using 107% of the computing power of a core, this should be under 100%.tracking works, but is not perfect: even when the ball is still, the likelihood is not over the threshold (yellow ring instead of green ring). There is evident overshooting in the movement of the eyes and of the head. '''All these problems might be caused by the fact that in this demo we are using a hacked version of a module, because it is not in the main branch of the repository'''.</font> <font color=green>'''The speed of the arm is normal in this configuration. '''</font>
	* turning off the iCubInterface worked well, the robot was parked normally.		* turning off the iCubInterface worked well, the robot was parked normally.

Mtaiana: /* March 4th 2011, 16:00 */

2011-03-09T14:38:39Z

March 4th 2011, 16:00

← Older revision		Revision as of 14:38, 9 March 2011
Line 73:		Line 73:
	[[Image:kernelPanic.jpg]]		[[Image:kernelPanic.jpg]]

	There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. ~~<font color=red>~~There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. The arm moves very slowly. The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal.</font> ~~I'll send an email to~~ Ugo Pattacini ~~about it~~.		There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. <font color=red> The arm moves very slowly. </font>The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal. <font color=green> Ugo Pattacini said the movement of the head is intended to be like that.</font>

	[[Image:headRoll.jpg]] See the video at [http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov].		[[Image:headRoll.jpg]] See the video at [http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov].

Mtaiana at 18:57, 4 March 2011

2011-03-04T18:57:20Z

← Older revision		Revision as of 18:57, 4 March 2011
Line 1:		Line 1:
	This page contains the results of all tests run on the iCub between March 2nd 2011 and March 8th 2011.		This page contains the results of all tests run on the iCub between March 2nd 2011 and March 8th 2011.

			<font color=red>Unsolved problems are highlighted in red, </font><font color=green>solved problems in green.</font>

	= March 2nd 2011, 15:00 =		= March 2nd 2011, 15:00 =

Mtaiana: /* March 4th 2011, 16:00 */

2011-03-04T18:36:30Z

March 4th 2011, 16:00

← Older revision		Revision as of 18:36, 4 March 2011
Line 73:		Line 73:
	There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. <font color=red>There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. The arm moves very slowly. The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal.</font> I'll send an email to Ugo Pattacini about it.		There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. <font color=red>There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. The arm moves very slowly. The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal.</font> I'll send an email to Ugo Pattacini about it.

	[[Image:headRoll.jpg]] See the video at [[http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov]].		[[Image:headRoll.jpg]] See the video at [http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov].

	Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.		Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.

Mtaiana: /* March 4th 2011, 16:00 */

2011-03-04T18:27:28Z

March 4th 2011, 16:00

← Older revision		Revision as of 18:27, 4 March 2011
Line 72:		Line 72:

	There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. <font color=red>There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. The arm moves very slowly. The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal.</font> I'll send an email to Ugo Pattacini about it.		There was no trace of the grasp demo in the wiki, this was <font color=green>solved by describing how to start that demo in [[ICub_demos#Ball_tracking_and_grasping_demo]].</font> for this demo the ball tracker works at the expected 30 fps. <font color=red>There is still some overshoot in the movement of the eyes, but it might as small as possible given the delays in the loop. The arm moves very slowly. The head of the robot rolls strangely to the sides when the ball is higher than it and close to it. I don't know if this behaviour is normal.</font> I'll send an email to Ugo Pattacini about it.

			[[Image:headRoll.jpg]] See the video at [[http://users.isr.ist.utl.pt/~mtaiana/temp/headRoll.mov]].

	Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.		Ricardo fixed some connections on the back of the robot, probably <font color=green>solving the torso-related errors.</font> Such errors have not appeared since in the iCubInterface output.