Chico: Difference between revisions

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= Preliminaries =
This article describes '''Chico''' (code-name iCubLisboa01, [http://wiki.icub.org/wiki/ICub_versions iCub version] 1.2.1), the whole-body humanoid robot of [[Vislab]].
 
''For demo instructions, refer to [[iCub instructions]].''
 
''Note: see [[Chico/Archive]] about historical information.''


* the iCub has a [[pc104|PC104]] with a flash disk configured to 10.10.1.50
TODO: to be completed and updated, in particular the firmware information below is obsolete.
* it mounts the repositories that are on the '''icubsrv''' Dell XPS laptop (10.10.1.51, username icub)
* there is a visualization support machine, the black Tsunami laptop '''[[Chico3 laptop machine configuration|chico3]]''' (10.10.1.53) to be used for demos.


The icubsrv laptop has 2 repositories:
= Preliminaries =
* /exports/code-64 for the laptop (compiled for 64bit)
* /exports/code-pc104 for the robot (compiled for 32bit)


Everything running with /icub namespace
* the iCub has a [[pc104|PC104]] with a flash disk configured with IP 10.10.1.50
* it mounts the repositories that are on the '''icub-laptop''' machine (10.10.1.53)


= Maintenance =
= Maintenance =


== Software ==
== Arm fine calibration ==


=== Updating YARP and iCub on Chico ===
Refer to http://wiki.icub.org/wiki/ArmFineCalibration


Refer to [[pc104]].
Basically, with yarpmotorgui set the arm joints to [-90 15 15 90]. Visually compare the arm angles with the reference picture.


=== CMake bug ===
== Hardware ==


Due to a CMake bug, whenever you compile something that features '''icubmoddev''' (the successor to yarpdev), you need to run CMake configure once; exit; without deleting the cache, run CMake configure again and proceed.
CAN 0, board 14 is just a spare board that lies in Chico's head (inherited from the design of the previous version of the head), not being used at the moment. It can slow down the CAN communication because the board is present and responding. If needed, we can disconnect it as shown:
So far, this is relevant for the pc104 as well as for machines that have to run other icubmoddev instances, e.g., a server running iKinArmCtrl.


== Hardware ==
[[Image:ICub_headV2_CAN0_board14_disconnected.jpg|600px|How to disconnect board 14.]]


When a joint/encoder breaks, refer to [[Chico joint calibration]].
When a joint/encoder breaks, refer to [[Chico joint calibration]].
== Firmware ==
Keep same Release and Version numbers; only increment Build number. Refer to [http://wiki.icub.org/wiki/Firmware this page] from the official iCub manual, using the following script:
  ./updateRobot.sh updateLisboa01.txt


[[Category:Robots]]
[[Category:Robots]]
[[Category:Vislab]]
[[Category:Vislab]]

Latest revision as of 16:02, 10 July 2017

This article describes Chico (code-name iCubLisboa01, iCub version 1.2.1), the whole-body humanoid robot of Vislab.

For demo instructions, refer to iCub instructions.

Note: see Chico/Archive about historical information.

TODO: to be completed and updated, in particular the firmware information below is obsolete.

Preliminaries

  • the iCub has a PC104 with a flash disk configured with IP 10.10.1.50
  • it mounts the repositories that are on the icub-laptop machine (10.10.1.53)

Maintenance

Arm fine calibration

Refer to http://wiki.icub.org/wiki/ArmFineCalibration

Basically, with yarpmotorgui set the arm joints to [-90 15 15 90]. Visually compare the arm angles with the reference picture.

Hardware

CAN 0, board 14 is just a spare board that lies in Chico's head (inherited from the design of the previous version of the head), not being used at the moment. It can slow down the CAN communication because the board is present and responding. If needed, we can disconnect it as shown:

How to disconnect board 14.

When a joint/encoder breaks, refer to Chico joint calibration.

Firmware

Keep same Release and Version numbers; only increment Build number. Refer to this page from the official iCub manual, using the following script:

 ./updateRobot.sh updateLisboa01.txt