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| In this page we will explain how to take good care of Chico during the [http://www.innovationdays.eu Innovation Days 2009] exhibition that takes place in the Feira Internacional de Lisboa from 18 to 20 June 2009.
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| == Setup ==
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| The demo inventory consists of:
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| {| class="wikitable" border="1"
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| |-
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| ! machine
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| ! notes
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| ! IP address, username
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| |-
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| | '''Chico''' the robot (duh)
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| | has a [[pc104]] CPU in its head
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| | 10.10.1.50, icub
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| |-
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| | '''icubsrv''' Dell XPS laptop
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| | don't worry about this machine, just keep it switched on. It contains a hard disk that gets mounted by Chico's read-only CPU at boot time
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| | 10.10.1.51, icub
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| |-
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| | '''[[Chico3 laptop machine configuration|chico3]]''' Tsunami 17" laptop
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| | we will use this machine for YARP and all demo management
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| | 10.10.1.53, icub
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| |}
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| Below Chico's table, from top to bottom we have:
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| {| class="wikitable" border="1"
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| |-
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| ! what
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| ! notes
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| ! IP address, username
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| |-
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| | '''[[iCubBrain server configuration|iCubBrain]]''' chassis
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| | contains two servers used for computation
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| | 10.10.1.41 ('''icubbrain1'''), 10.10.1.42 ('''icubbrain2'''), icub
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| |-
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| | Xantrex XFR 35-35
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| | thin power supply unit, to power [[pc104]] and some motors
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| | -
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| |-
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| | Xantrex XFR 60-46
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| | thick power supply unit, to power most motors
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| | -
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| |-
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| | APC UPS
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| | Uninterruptible power supply
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| | -
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| |}
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| == Starting YARP components ==
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| Launch the graphical '''[[Cluster Management in VisLab|Cluster Manager]]''' application on the chico3 laptop, by typing this in a terminal:
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| cd $ICUB_ROOT/app/default/scripts
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| ./icub-cluster.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/vislab-cluster.xml
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| === yarpserver ===
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| Click 'Run' to start yarpserver on chico3. The light above the 'Stop' button will become green.
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| === yarprun ===
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| Now we are ready to start 'yarprun' on all the machines we need (necessary for the distributed YARP modules that make up a demo to communicate with one another). In the 'Select' column, make sure that only the following machines are selected with a red light:
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| * chico3
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| * pc104
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| * icubbrain1
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| Click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light. The [[pc104]] can be slow and, sometimes, unpredictable.
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| Do all the selected machines have their 'On/Off' switch green by now? If so, proceed to the next step. If not, click on 'Check All' and see if we have a green light from the [[pc104]] now. You should see something like this:
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| [[Image:Successful_cluster_mgr.png]]
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| == Other components ==
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| === Cameras ===
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| Open a chico3 console and type:
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| cd $ICUB_ROOT/app/default/scripts
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| ./cameras start
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| Sometimes we need to manually establish these connections in order for images to display:
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| yarp connect /icub/cam/right /icub/view/right
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| yarp connect /icub/cam/left /icub/view/left
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| To turn off the cameras:
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| ./cameras stop
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| To change the size of images:
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| nano -w $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/config.sh
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| [CHECK THIS]
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| === iCubInterface ===
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| This program controls all of Chico hardware (except the cameras). In practice, all demos assume that iCubInterface is already running in the background.
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| To start iCubInterface, unlock the red button switch and type this on a [[pc104]] console:
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| iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini
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| and wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.
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| To stop iCubInterface, type ctrl+c 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 forehead since the head may fall to the front.)
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| == Before every demo ==
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| * Turn on icubsrv (Dell XPS laptop)
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| * Turn on chico3 (Tsunami 17" laptop), which we will use to actually control the demos
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| * Turn on the Chico's Xantrex power supply units
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| * Turn on the green switches behind Chico
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| * [http://mediawiki.isr.ist.utl.pt/wiki/Innovation_Days_2009#Starting_YARP_components Start the needed YARP components] with the GUI: one instance of yarpserver and all necessary instances of yarprun, one per machine
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| == Yoga demo ==
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| * Run [[#iCubInterface]] on the pc104
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| * On any machine, type:
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| iCubDemoY3 --config /app/demoy3/fullBody.txt
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| == Facial expressions demo ==
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| * Start the facial expression driver on the [[pc104]]:
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| cd $ICUB_DIR/app/faceExpressions/scripts
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| ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf
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| * Start the facial expression demo by typing one of these two commands on any machine:
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| $ICUB_DIR/app/faceExpressions/scripts/cycle.sh
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| or
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| yarp rpc /icub/face/emotions/in
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| set all hap // full face happy
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| set all sad // full face sad
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| set all ang // full face angry
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| set all neu // full face neutral
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| set mou sur // mouth surprised
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| set eli evi // eyelids evil
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| set leb shy // left eyebrow shy
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| set reb cun // right eyebrow cunning
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| set all ta1 // mouth talking position 1 (mouth closed)
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| set all ta2 // mouth talking position 2 (mouth open)
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| == Ball following demo ==
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| This demo uses the left eye and the right arm of Chico. Assumption: left eye is running at a resolution of 320x240 pixels.
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| * Make sure cameras are running
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| * Make sure iCubInterface is running
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| * Run image rectifier on icubbrain1
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| cd 0.icub_3D_ball_tracker
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| ./0.LEFT_320x240_image_rectifier.sh
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| * Set left camera colour parameters and run tracker [ON icubbrain2?]
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| cd 0.icub_3D_ball_tracker
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| ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
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| ./2.execute_the_tracker.sh
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| * Start a viewer on chico3
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| yarpview /viewer
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| * Run expression module on icubbrain1 [CHECK THIS]
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| cd 0.icub_3D_ball_tracker
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| ./3.execute_trackerExpressions.sh
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| * Run arm inverse kinematics module on icubbrain1
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| cd iCub/bin
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| ./iKinArmCtrl --onlyXYZ
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| * Connect all ports from icubbrain1. Careful: the robot will start moving after this step!
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| cd 0.icub_3D_ball_tracker
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| ./4.LEFT.iCub_connect_ports.sh
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| ./6.connect_LeftEyeToRoot.sh
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| * [OPTIONAL] Read the 3D position of the ball in the root reference frame (from any machine)
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| yarp read ... /icub/LeftEyeToRoot/ballPositionOut
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| === Pausing the Ball Following demo ===
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| You can do this by disconnecting two ports (and connecting them again when you want to resume the demo).
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| 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.
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| * Pause (from any machine)
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| yarp disconnect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i
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| * Resume (from any machine)
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| yarp connect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i
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| === Quitting the Ball Following demo ===
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| * On icubbrain1, disconnect all ports. Careful: this will stop the robot.
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| cd 0.icub_3D_ball_tracker
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| ./7.disconnect_all.sh
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| * Quit/Kill the processes of the demo, in any order.
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| == SIFT Object Detection and Tracking demo ==
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| On any machine, run:
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| $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/controlGazeManual.sh
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| $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/attentionObjects/noEgoSetup/CalibBothStart.sh
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| On any machine (preferably one of the icubbrains, at this task is computationally heavy) type:
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| $ICUB_DIR/app/$ICUB_ROBOTNAME/scripts/attentionObjects/noEgoSetup/startSiftObjectRepresentation.sh
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| If you want to change the configuration, do:
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| nano -w $ICUB_DIR/app/$ICUB_ROBOTNAME/conf/icubEyes.ini
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| == Attention system demo ==
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| Assumptions:
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| * /icub/cam/right is running at 320x240 pixels
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| * iCubInterface is running at /icub/head
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| [TO BE COMPLETED]
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| [[Category:Vislab]]
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