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This article explains how to manage Chico for '''demos and experiments''' alike. We will describe the hardware setup that accompanies our iCub, how to turn things on and off, and how to run demos.
[[File:ICubLisbonSept2015bright.png|thumb|400px|right|caption|Lisbon iCub robot.]]


''An older version of this article can be found here: [[Innovation Days 2009]].''
This article explains how to use the full-body Lisbon iCub robot (code-name: iCubLisboa01, nickname: Chico) for '''demos and experiments''' alike. We will describe the hardware setup that accompanies our iCub, how to turn things on and off, and how to run demos. For a generic description of the robot, refer to the [[Chico]] article.
 
''An older version of this article can be found at [[iCub instructions/Archive]].''


== Setup ==
== Setup ==


The demo inventory consists of:
The inventory consists of:


{| class="wikitable" border="1"
{| class="wikitable" border="1"
Line 17: Line 19:
|  10.10.1.50, icub
|  10.10.1.50, icub
|-
|-
|  '''icubsrv''' Dell XPS laptop
|  '''[[iCub laptop]]'''
|  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
|  used to control the robot; also, it exports shared volumes (directories) to other machines of the computational cluster
|  10.10.1.51, icub
|-
|  '''[[Chico3 laptop machine configuration|chico3]]''' Tsunami 17" laptop
|  we will use this machine for YARP and all demo management
|  10.10.1.53, icub
|  10.10.1.53, icub
|}
|}


Below Chico's table, from top to bottom we have:
Below Chico's metal support, from top to bottom we have:
{| class="wikitable" border="1"
{| class="wikitable" border="1"
|-
|-
!  what
!  what
!  notes
!  notes
!  IP address, username
|-
|  '''[[iCubBrain server configuration|iCubBrain]]''' chassis
|  contains two servers used for computation
|  10.10.1.41 ('''icubbrain1'''), 10.10.1.42 ('''icubbrain2'''), icub
|-
|-
|  Xantrex XFR 35-35
|  Xantrex XFR 35-35
|  thin power supply unit, to power [[pc104]] and some motors
|  thin power supply unit, to power [[pc104]] and some motors. '''Voltage: 12.9''', current: 05.0 or more
|  -
|-
|-
|  Xantrex XFR 60-46
|  Xantrex XFR 60-46
|  thick power supply unit, to power most motors
|  thick power supply unit, to power most motors. '''Voltage: 40.0''' (initially it is 0 - it changes when you turn the green motor switch), current: 10.0 or more
|  -
|-
|-
|  APC UPS
|  APC UPS
|  uninterruptible power supply
|  uninterruptible power supply
|  -
|}
|}
In a separate room there are servers that make up the iCub computational cluster, to run the bulk of algorithms and programs (inverse kinematics, vision routines, etc.).


== Switching on the robot ==
== Switching on the robot ==
=== Hardware side ===


* Check that the UPS is on
* Check that the UPS is on
* Turn on icubsrv (Dell XPS laptop)
* Check that the [[iCub laptop]] is on, if not switch it on
* Turn on chico3 (Tsunami 17" laptop), which we will use to actually control the demos
* Turn on the Xantrex power supply units; make sure the voltage values are correct (see [[iCub_instructions#Setup]])
* Turn on the Xantrex power supply units  
* Check that the '''red emergency button is unlocked'''
* Turn on the green switches behind Chico
* Turn on the green switches next to Chico
** Safety hint: first turn on the [[pc104]] CPU switch, wait for it to be alive and only then switch the motors on
** Safety hint: first turn on the [[pc104]] CPU switch, wait for the CPU to be on, and only then switch the motors on
** Another safety hint: wait for the four purple lights on each board to turn off and become two blue lights – at this pointy you can start [[#iCubInterface | iCubInterface]]
** Another safety hint, after turning on motors: wait for the four purple lights on each board to turn off and become two blue lights – at this point you can continue to the next steps
* [[#Starting YARP components | Start the needed YARP components]] with the Cluster Manager GUI: one instance of <code>yarpserver</code> plus all necessary instances of <code>yarprun</code> (one per each machine that will do computation)
 
* Depending on which demo you want to execute, you will probably need to start [[#iCubInterface | iCubInterface]] and the [[#Cameras | cameras]]
=== Software side ===
* Depending on your demo, you might need to power up icubbrain1 (left half of server chassis) and/or icubbrain2 (right half)
 
* Check that the YARP Module Manager (yarpmanager) window is shown, if not run '''yarpmanager.sh''' from the laptop desktop icon and [[#Starting YARP components|start the needed YARP components (click here for detailed instructions)]]. The summary is:
** First, launch <code>yarpserver</code> with the 'Run' button in the Cluster tab
** Then, if your application employs machines other than the laptop itself, launch the necessary <code>yarprun</code> listeners in the Entities panel: '''icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda'''
* The Entities tab is a GUI that manages all the necessary iCub applications
** In the iCubStartup application, launch all modules, including yarprobotinterface which is the most important one that will calibrate the robot. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)
** Other applications: depending on the desired application or demo, you will need to start other necessary drivers such as [[#Cameras | cameras]] or [[#Facial expression driver |facial expressions]]
 
== Shutting off the robot ==
 
=== Software side ===
 
* Stop your demo software and the cameras with the GUI; do not stop yarprobotinterface (in the iCubStartup panel) nor <code>yarpserver</code> (in the Cluster Manager window)
* In the iCubStartup panel of the GUI, stop all modules, including yarprobotinterface. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, stop or kill the process more times and be ready to hold Chico's chest since the head may fall to the front.)
* In the Cluster Manager window, stop the instances of <code>yarprun</code> (lower panel). It is not necessary to stop <code>yarpserver</code> (upper panel), we usually keep it on
 
=== Hardware side ===
 
* Shut down the [[pc104]] with this command in a terminal: <code>sudo halt</code>
* Turn off the two green switches. Pay attention when turning off the 'Motors' switch: if yarprobotinterface was not stopped properly in the previous steps, then be ready to hold the robot when turning that switch
* Turn off the Xantrex power supply units
* Do not turn off the [[iCub laptop]], we usually keep it on
 
== Stopping the robot with the red emergency button ==
 
The emergency button, as the name suggests, is to be used for emergencies only. For example:
* When the robot is about to break something
* When some components make nasty noises that suggest they are going to break
Use this button with great care, as it cuts power to all motors and controllers abruptly! In particular, be ready to hold Chico, because the upper part of his body might fall upon losing power.
 
To start using the robot again, it is convenient to quit and restart all the software components and interfaces; refer to [[#Switching on the robot]] for that. '''Don't forget to unlock the red emergency button''' after an emergency, otherwise the program [[#yarprobotinterface]] will start but not move any joint.


== Starting YARP components ==
== Starting YARP components ==


Launch the graphical '''[[Cluster Management in VisLab|Cluster Manager]]''' application on the chico3 laptop, by typing this in a terminal:
* Click on the '''yarpmanager.sh''' icon on the desktop and select 'Run in Terminal' (or 'Run' if you want to suppress the optional debug information terminal)
* You will see a window divided in two parts: Cluster Management and Nodes
* In the Cluster part, click on the green 'Run yarpserver' play button. The light above the 'Stop' button will become green.
* In the Nodes part, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.


  cd $ICUB_ROOT/app/default/scripts
=== Screenshots ===
  ./icub-cluster.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/vislab-cluster.xml


=== <code>yarpserver</code> ===
[[Image:Yarpmanager_launch_yarpserver.png|1024px]]


Click 'Run' to start <code>yarpserver</code> on chico3. The light above the 'Stop' button will become green.
[[Image:Yarpmanager_launch_yarprun.png|1024px]]


=== <code>yarprun</code> ===
[[Image:Yarpmanager_launch_yarprobotinterface.png|1024px]]


Now we are ready to start <code>yarprun</code> on all the machines we need (necessary for several YARP modules distributed on different machines to communicate with one another). In the 'Select' column, make sure that only the following machines are selected with a red light:
== Other components ==
* chico3
* pc104
* icubbrain1


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 (if it doesn't find the <code>yarpserver</code>, you will need to write the following line into yarp conf: <code>10.10.1.53 40000</code>).
Many demos and programs assume that components such as cameras, the yarprobotinterface driver or the facial expression driver have been launched. To start them, first of all run the '''yarpmanager.sh''' icon. A GUI similar to this one will appear:


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:
[[Image:gyarpmanager.png]]


[[Image:Successful_cluster_mgr.png]]
When you have one or more applications running, each one will have its panel (tab) and the following toolbar will be visible. Here are the most important functions (which affect all modules of the currently selected application):


== Other components ==
[[Image:gyarpmanager_toolbar.png]]
 
=== yarprobotinterface ===
 
This program controls the motors and reads the robot sensors (encoders, inertial sensor, skin, force/torque). It is needed by almost all demos.
 
* '''check that the red emergency button is unlocked'''
* open the '''iCubStartup''' panel in the yarpmanager GUI; click the Run Application button. This will start both kinematics (yarprobotinterface, cartesian solvers and gaze control) and dynamics (wholeBodyDynamics and gravityCompensator)
 
Wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.
 
There is a GUI application to manually command robot joints. Just invoke it from the [[iCub laptop]] with:
yarpmotorgui


=== Cameras ===
=== Cameras ===


Open a chico3 console and type:
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
  cd $ICUB_ROOT/app/default/scripts
* open the '''Cameras_320x240_for_ball_tracking''' panel in the yarpmanager GUI; click the Run Application button; click the Connect Links button
  ./manager.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/cameras_320x240.xml
 
=== Facial expression driver ===


Alternatively, the second command can use the <code>cameras_640x480.xml</code> configuration instead, if you need a larger resolution.
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* open the '''Face_Expressions''' panel in the yarpmanager GUI; click the Run Application button; click the Connect Links button


=== iCubInterface ===
Note that the actual expression device driver (the first module of the two listed) runs on the [[pc104]]. Sometimes, that process cannot be properly killed and restarted from the graphical interface; in the event of you needing to do that, you can either <code>kill -9</code> its PID, or do a hard restart of the [[pc104]].


This program controls all of Chico hardware (except cameras). In practice, all demos assume that iCubInterface is already running in the background.
=== iCubGui ===


To start iCubInterface, unlock the red button switch and type this on a [[pc104]] console:
This component shows a real-time 3D model of the robot on the screen.
  iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini
and wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.


For instructions about quitting iCubInterface, refer to section [[#Shutting off the robot]] below.
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* open the '''iCubGui''' panel in the yarpmanager GUI; click the Run Application button; click the Connect Links button


== Shutting off the robot ==
=== Skin GUI ===


* Stop your demo software and the cameras with the respective application manager GUIs
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* Go to the pc104 iCubInterface shell windows and stop the program hitting ctrl+c, just 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.)
* open the '''Skin_Gui_All''' panel in the yarpmanager GUI; click the Run Application button; click the Connect Links button
* Stop <code>yarpserver</code> and the <code>yarprun</code>s with the [[Cluster Management in VisLab|Cluster Manager]] GUI
* Turn off the two green switches. Pay attention when turning off the 'Motors' switch: if iCubInterface was not stopped properly in the previous steps, then be ready to hold the robot when turning that switch
* Turn off the Xantrex power supply units
* Turn off chico3 (Tsunami 17" laptop)
* If necessary, turn off icubsrv (Dell XPS laptop) and the UPS


== Specific demos ==
== Specific demos ==


''Refer to [[Innovation Days 2009]] for now''.
''Refer to [[iCub demos/Archive]] for older information such as starting demos from terminals''.
 
=== Ball tracking and grasping ===
 
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* Make sure that the applications iCubStartup, Cameras_320x240_for_Ball_Tracking have been started
* Optionally, Face_Expression and iCubGui can be started too
* open the '''Red-Ball_Demo''' panel in the yarpmanager GUI; click the Run Application button; click the Connect Links button
 
Note that this demo launches the left eye camera with special parameter values:
  brightness 0
  sharpness 0.5
  white balance red 0.474      // you may need to lower this, depending on illumination
  white balance blue 0.648
  hue 0.482
  saturation 0.826
  gamma 0.400
  shutter 0.592
  gain 0.305
 
=== Facial expressions ===
 
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* Start the [[#Facial expression driver | facial expression driver]]
* Select the '''EMOTIONS2''' icon (Run in terminal); stop with ctrl+c
 
=== Force Control ===
 
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]
* Make sure that the applications iCubStartup has been started
* Click on the '''Force_Control''' panel in the yarpmanager GUI, Run Application, Connect Links
* select the desired modality (screenshot below) and manually move the robot limbs:
[[Image:Force_control_gui.png]]
* More information available here: http://eris.liralab.it/wiki/Force_Control
 
=== Interactive Objects Learning Behavior ===
 
For this demo, you also need a Windows machine with a <code>yarprun</code> listener (the speech recognition module will be launched on this machine).
 
In yarpmanager, select the "Interactive Objects Learning Behavior with SCSPM" application: refresh, run, connect.
 
The grammar of recognized spoken sentences is located at
https://github.com/robotology/iol/blob/master/app/lua/verbalInteraction.txt
 
Notes: do the following commands for using IOL Object Recognition side by side with the POETICON++ demo.
  yarp rpc /actionsRenderingEngine/cmd:io
  home all
 
  yarp rpc /iolStateMachineHandler/human:rpc
  attention stop
 
=== Yoga ===
 
* Make sure that basic YARP components are running: [[#Switching on the robot|summarized Cluster Manager instructions are here]]; detailed instructions are in section [[#Starting YARP components]]. For this demo we only need <code>yarpserver</code> (<code>yarprun</code>s are not necessary)
* Make sure that iCubStartup ([[#yarprobotinterface|yarprobotinterface]]) is running
* open the '''Yoga''' panel in the yarpmanager GUI; click the Run Application button


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

Latest revision as of 18:58, 14 February 2020

Lisbon iCub robot.

This article explains how to use the full-body Lisbon iCub robot (code-name: iCubLisboa01, nickname: Chico) for demos and experiments alike. We will describe the hardware setup that accompanies our iCub, how to turn things on and off, and how to run demos. For a generic description of the robot, refer to the Chico article.

An older version of this article can be found at iCub instructions/Archive.

Setup

The inventory consists of:

machine notes IP address, username
Chico the robot (duh) has a pc104 CPU in its head 10.10.1.50, icub
iCub laptop used to control the robot; also, it exports shared volumes (directories) to other machines of the computational cluster 10.10.1.53, icub

Below Chico's metal support, from top to bottom we have:

what notes
Xantrex XFR 35-35 thin power supply unit, to power pc104 and some motors. Voltage: 12.9, current: 05.0 or more
Xantrex XFR 60-46 thick power supply unit, to power most motors. Voltage: 40.0 (initially it is 0 - it changes when you turn the green motor switch), current: 10.0 or more
APC UPS uninterruptible power supply

In a separate room there are servers that make up the iCub computational cluster, to run the bulk of algorithms and programs (inverse kinematics, vision routines, etc.).

Switching on the robot

Hardware side

  • Check that the UPS is on
  • Check that the iCub laptop is on, if not switch it on
  • Turn on the Xantrex power supply units; make sure the voltage values are correct (see iCub_instructions#Setup)
  • Check that the red emergency button is unlocked
  • Turn on the green switches next to Chico
    • Safety hint: first turn on the pc104 CPU switch, wait for the CPU to be on, and only then switch the motors on
    • Another safety hint, after turning on motors: wait for the four purple lights on each board to turn off and become two blue lights – at this point you can continue to the next steps

Software side

  • Check that the YARP Module Manager (yarpmanager) window is shown, if not run yarpmanager.sh from the laptop desktop icon and start the needed YARP components (click here for detailed instructions). The summary is:
    • First, launch yarpserver with the 'Run' button in the Cluster tab
    • Then, if your application employs machines other than the laptop itself, launch the necessary yarprun listeners in the Entities panel: icub-laptop, pc104, icubbrain1, icubbrain2, icub-cuda
  • The Entities tab is a GUI that manages all the necessary iCub applications
    • In the iCubStartup application, launch all modules, including yarprobotinterface which is the most important one that will calibrate the robot. Just in case, make sure that the iCub is vertical before launching this software, otherwise the robot will fall down (dangerous)
    • Other applications: depending on the desired application or demo, you will need to start other necessary drivers such as cameras or facial expressions

Shutting off the robot

Software side

  • Stop your demo software and the cameras with the GUI; do not stop yarprobotinterface (in the iCubStartup panel) nor yarpserver (in the Cluster Manager window)
  • In the iCubStartup panel of the GUI, stop all modules, including yarprobotinterface. Chico will thus move its limbs and head to a "parking" position. (If things don't quit gracefully, stop or kill the process more times and be ready to hold Chico's chest since the head may fall to the front.)
  • In the Cluster Manager window, stop the instances of yarprun (lower panel). It is not necessary to stop yarpserver (upper panel), we usually keep it on

Hardware side

  • Shut down the pc104 with this command in a terminal: sudo halt
  • Turn off the two green switches. Pay attention when turning off the 'Motors' switch: if yarprobotinterface was not stopped properly in the previous steps, then be ready to hold the robot when turning that switch
  • Turn off the Xantrex power supply units
  • Do not turn off the iCub laptop, we usually keep it on

Stopping the robot with the red emergency button

The emergency button, as the name suggests, is to be used for emergencies only. For example:

  • When the robot is about to break something
  • When some components make nasty noises that suggest they are going to break

Use this button with great care, as it cuts power to all motors and controllers abruptly! In particular, be ready to hold Chico, because the upper part of his body might fall upon losing power.

To start using the robot again, it is convenient to quit and restart all the software components and interfaces; refer to #Switching on the robot for that. Don't forget to unlock the red emergency button after an emergency, otherwise the program #yarprobotinterface will start but not move any joint.

Starting YARP components

  • Click on the yarpmanager.sh icon on the desktop and select 'Run in Terminal' (or 'Run' if you want to suppress the optional debug information terminal)
  • You will see a window divided in two parts: Cluster Management and Nodes
  • In the Cluster part, click on the green 'Run yarpserver' play button. The light above the 'Stop' button will become green.
  • In the Nodes part, choose all the machines in the 'Select' column, then click 'Run Selected' and wait a bit so that all machines can turn on their green 'On' light.

Screenshots

Other components

Many demos and programs assume that components such as cameras, the yarprobotinterface driver or the facial expression driver have been launched. To start them, first of all run the yarpmanager.sh icon. A GUI similar to this one will appear:

When you have one or more applications running, each one will have its panel (tab) and the following toolbar will be visible. Here are the most important functions (which affect all modules of the currently selected application):

yarprobotinterface

This program controls the motors and reads the robot sensors (encoders, inertial sensor, skin, force/torque). It is needed by almost all demos.

  • check that the red emergency button is unlocked
  • open the iCubStartup panel in the yarpmanager GUI; click the Run Application button. This will start both kinematics (yarprobotinterface, cartesian solvers and gaze control) and dynamics (wholeBodyDynamics and gravityCompensator)

Wait for all boards to answer (which takes around 1 minute); after that, you are ready to move on.

There is a GUI application to manually command robot joints. Just invoke it from the iCub laptop with: 

yarpmotorgui

Cameras

Facial expression driver

Note that the actual expression device driver (the first module of the two listed) runs on the pc104. Sometimes, that process cannot be properly killed and restarted from the graphical interface; in the event of you needing to do that, you can either kill -9 its PID, or do a hard restart of the pc104.

iCubGui

This component shows a real-time 3D model of the robot on the screen.

Skin GUI

Specific demos

Refer to iCub demos/Archive for older information such as starting demos from terminals.

Ball tracking and grasping

  • Make sure that basic YARP components are running: summarized Cluster Manager instructions are here; detailed instructions are in section #Starting YARP components
  • Make sure that the applications iCubStartup, Cameras_320x240_for_Ball_Tracking have been started
  • Optionally, Face_Expression and iCubGui can be started too
  • open the Red-Ball_Demo panel in the yarpmanager GUI; click the Run Application button; click the Connect Links button

Note that this demo launches the left eye camera with special parameter values: 

 brightness 0
 sharpness 0.5
 white balance red 0.474      // you may need to lower this, depending on illumination
 white balance blue 0.648 
 hue 0.482
 saturation 0.826
 gamma 0.400
 shutter 0.592
 gain 0.305

Facial expressions

Force Control

  • Make sure that basic YARP components are running: summarized Cluster Manager instructions are here; detailed instructions are in section #Starting YARP components
  • Make sure that the applications iCubStartup has been started
  • Click on the Force_Control panel in the yarpmanager GUI, Run Application, Connect Links
  • select the desired modality (screenshot below) and manually move the robot limbs:

Interactive Objects Learning Behavior

For this demo, you also need a Windows machine with a yarprun listener (the speech recognition module will be launched on this machine).

In yarpmanager, select the "Interactive Objects Learning Behavior with SCSPM" application: refresh, run, connect.

The grammar of recognized spoken sentences is located at https://github.com/robotology/iol/blob/master/app/lua/verbalInteraction.txt

Notes: do the following commands for using IOL Object Recognition side by side with the POETICON++ demo. 

 yarp rpc /actionsRenderingEngine/cmd:io
 home all

 yarp rpc /iolStateMachineHandler/human:rpc
 attention stop

Yoga

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