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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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| * '''Chico''' the robot (duh), which has a [[pc104]] CPU (10.10.1.50, username icub) in its head.
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| * '''icubsrv''' Dell XPS laptop: 10.10.1.51, username icub. No need to use or modify this machine, it contains a hard disk drive that gets mounted by Chico's read-only pc104 CPU at boot time. Don't worry about this machine, just keep it switched on.
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| * '''[[Chico3 laptop machine configuration|chico3]]''' Tsunami 17" laptop, 10.10.1.53, username icub. We will use this machine for YARP and all demo management.
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| Below Chico's table, looking from bottom to top, we have:
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| * APC UPS (Uninterruptible power supply)
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| * Xantrex XFR 60-46 power supply unit (the thick one) for motors
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| * Xantrex XFR 35-35 power supply unit (the thin one) for [[pc104]] and other motors
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| * '''[[iCubBrain server configuration|iCubBrain]]''' chassis containing two servers to be used for computation: '''icubbrain1''' (10.10.1.41, usual username) and '''icubbrain2''' (10.10.1.42)
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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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| == Managing 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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| == Running a 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 ===
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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 ===
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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 ===
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| === Attention system ===
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| [[Category:Vislab]]
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