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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]].


* the iCub has a [[pc104|PC104]] with a flash disk configured to 10.10.1.50
''For demo instructions, refer to [[iCub instructions]].''
* 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:  
''Note: see [[Chico/Archive]] about historical information.''
* /export/code_64 for the laptop (compiled for 32bit)
* /export/code_pc104 for the robot (compiled for 64bit)
They are anonymous, so changes are not committable (DO NOT CHANGE)


Everything running with /icub namespace
TODO: to be completed and updated, in particular the firmware information below is obsolete.


= Maintenance =
= Preliminaries =


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


When a joint/encoder breaks, refer to [[Chico joint calibration]].
= Maintenance =


= Running a demo =
== Arm fine calibration ==


Warning: this section is obsolete. Refer to [[iCub demos]] instead.
Refer to http://wiki.icub.org/wiki/ArmFineCalibration


1 - Turn on chico2
Basically, with yarpmotorgui set the arm joints to [-90 15 15 90]. Visually compare the arm angles with the reference picture.
       
        set the namespace to /icub
        "yarp namespace /icub"


        run the yarp server (note that "yarpserver" is just one word. This way Cluster Manager can kill it)
== Hardware ==
        "yarpserver"


        run the yarp run server
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:
        "yarp run --server /chico2"
   


2 - Turn on the laptop
[[Image:ICub_headV2_CAN0_board14_disconnected.jpg|600px|How to disconnect board 14.]]


        '''not needed'''
When a joint/encoder breaks, refer to [[Chico joint calibration]].
        set the namespace to /icub
        "yarp namespace /icub"
 
        '''not needed'''
        make sure the name server is visible
        "yarp where" should detect the name server (10.10.1.???)
 
        '''not needed'''
        run the yarp run server
        "yarp run --server /icubsrv"
     
2- Turn on the robot (it will mount the repository that is stored on the laptop)
       
        switch on the power supply units (grey boxes under the table)
 
        switch on the cpu and motors of the iCub (green switches behind the iCub)
 
        '''not needed'''
        log in to pc104
        ssh icub@10.10.1.50
 
        '''not needed'''
        set the namespace to /icub
        "yarp namespace /icub"
 
        '''not needed'''
        make sure the name server is visible
        "yarp where" should detect the name server (10.10.1.???)
 
        '''not needed'''
        run the yarp run server
        "yarp run --server /pc104"
 
        '''make sure''' "./yarp run --server /pc104" is running on pc104 and that "/pc104" is seen by the yarp server (by doing a "yarp name list").
        if is not, "killall yarp" on pc104 and "./yarp run --server /pc104"
 
 
3- (Skip this for now) Start yarp run
 
        cd /iCub/app/default/scripts/
        ./icub-cluster.sh run
        ./icub-cluster.sh check
        there must be 3 ok messages
 
        if some problem
        ./icub-cluster.sh check
        ./icub-cluster.sh stop
        killall yarp
 
        killall yarp on pc104
 
        ./icub-cluster.sh run
 
 
4- turn on cameras
 
        On chico2 do:
 
        cd $ICUB_DIR/app/default/scripts
        ./cameras start
 
        sometimes connections must be established manually
        "yarp connect /icub/cam/right /icub/view/right"
        "yarp connect /icub/cam/left /icub/view/left"
 
        To turn off the cameras do:
        ./cameras stop
 
        To change the size of the images edit file:
        $ICUB_DIR/app/default/scripts/config.sh
 
 
 
 
5- Run iCubInterface (hardware except cameras)
 
        UNLOCK THE RED BUTTON SWITCH
        open a pc104 console
        iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/conf/icubSafe.ini
        wait for all boards to answer ( < 1 min )
        control^C to cancel
 
 
6- Run YOGA demo
 
        on pc104 or chico2:
        iCubDemoY3 --config /app/demoy3/fullBody.txt
 
 
7- Start facial expressions driver
 
        Open a pc104 console:
        cd $ICUB_DIR/app/faceExpressions/scripts
        ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf
 
8 - Start facial expresions demo
 
        In any machine:
        $ICUB_DIR/app/faceExpressions/scripts/cycle.sh
 
              or
 
        yarp rpc /icub/face/emotions/in
        set all hap // full face happy
        set all sad // full face sad
        set all ang // full face angry
        set all neu // full face neutral
        set mou sur // mouth surprised
        set eli evi // eyelids evil
        set leb shy // left eyebrow shy
        set reb cun // right eyebrow cunning
        set all ta1 // mouth talking position 1 (mouth closed)
        set all ta2 // mouth talking position 2 (mouth open)
 
9 - Run the ball following demo
       
        [[ballFollowingDemo]]
 
10 - Run the SIFT Object detection and tracking demo
 
      In any machine:
      $ICUB_DIR/app/iCubLisboa01/scripts/controlGazeManual.sh
      $ICUB_DIR/app/iCubLisboa01/scripts/attentionObjects/noEgoSetup/CalibBothStart.sh


      In any other machine (requires lots of processing power):
== Firmware ==
      $ICUB_DIR/app/iCubLisboa01/scripts/attentionObjects/noEgoSetup/startSiftObjectRepresentation.sh


      To change configuration:
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:
      $ICUB_DIR/app/iCubLisboa01/conf/icubEyes.ini
  ./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
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