Innovation Days 2009/Archive - Revision history

Giovanni Saponaro: update link

2015-05-25T11:01:21Z

update link

← Older revision		Revision as of 11:01, 25 May 2015
Line 1:		Line 1:
	''You may ignore this page and go back to [[Innovation Days 2009]] or [[iCub ~~demos~~]].''		''You may ignore this page and go back to [[Innovation Days 2009]] or [[iCub instructions]].''

Giovanni Saponaro: this page can now be deleted

2010-02-22T22:02:53Z

this page can now be deleted

← Older revision		Revision as of 22:02, 22 February 2010
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	''~~Note: these methods are obsolete and kept here for historic reference only. Most probably, you~~ may ignore this page and go back to [[Innovation Days 2009]] or [[iCub demos]].''		''You may ignore this page and go back to [[Innovation Days 2009]] or [[iCub demos]].''

Giovanni Saponaro: now, really remove this information and move it to iCub demos/Archive

2010-02-22T22:02:21Z

now, really remove this information and move it to iCub demos/Archive

← Older revision		Revision as of 22:02, 22 February 2010
Line 1:		Line 1:
	''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]] or [[iCub demos]].''		''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]] or [[iCub demos]].''

	~~== 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.

Giovanni Saponaro: /* Ball tracking and reaching demo */

2010-02-18T02:45:07Z

Ball tracking and reaching demo

@@ Line 19: / Line 19: @@
     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 ==
+== Ball tracking and reaching demo, old method ==
 * Run image rectifier on '''icubbrain2'''
@@ Line 48: / Line 47: @@
 * [OPTIONAL, FOR DEBUG] Read the 3D position of the ball in the root reference frame (from any machine)
     yarp read ... /icub/LeftEyeToRoot/ballPositionOut

Giovanni Saponaro: link to iCub demos

2009-09-02T14:25:33Z

link to iCub demos

← Older revision		Revision as of 14:25, 2 September 2009
Line 1:		Line 1:
	''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].''		''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]] or [[iCub demos]].''

	== Other components ==		== Other components ==

Giovanni Saponaro at 14:35, 8 July 2009

2009-07-08T14:35:22Z

← Older revision		Revision as of 14:35, 8 July 2009
Line 18:		Line 18:
	To change the size of images:		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''		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 ==


			* 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

Giovanni Saponaro at 13:25, 8 July 2009

2009-07-08T13:25:08Z

← Older revision		Revision as of 13:25, 8 July 2009
Line 1:		Line 1:
	''~~These~~ methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].''		''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].''

	== Other components ==		== Other components ==

Giovanni Saponaro at 13:23, 8 July 2009

2009-07-08T13:23:27Z

← Older revision		Revision as of 13:23, 8 July 2009
Line 1:		Line 1:
	These methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].		''These methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].''

	== Other components ==		== Other components ==

Giovanni Saponaro: initial version

2009-07-08T13:23:11Z

initial version

New page

These methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].

== 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''