Chico: Difference between revisions

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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]].
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 demos]].''
''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TODO: to be completed and updated, in particular the firmware information below is obsolete.
TODO: to be completed and updated, in particular the firmware information below is obsolete.
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= Preliminaries =
= Preliminaries =


* the iCub has a [[pc104|PC104]] with a flash disk configured to 10.10.1.50  
* 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 '''icubsrv''' Dell XPS laptop (10.10.1.51, username icub)
* it mounts the repositories that are on the '''icub-laptop''' machine (10.10.1.53)
* 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:
* /exports/code-64 for the laptop (compiled for 64bit)
* /exports/code-pc104 for the robot (compiled for 32bit)
 
Everything running with /icub namespace


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


Basically, with robotMotorGui set the arm joints to [-90 15 15 90]. Visually compare the arm angles with the reference picture.
Basically, with yarpmotorgui set the arm joints to [-90 15 15 90]. Visually compare the arm angles with the reference picture.
 
== Camera calibration ==
 
Use the chessEyeTest tool ($ICUB_ROOT/contrib/src/misc/chessEyeTest):
 
chessEyeTest.ini [boardSize(square length); boardWidth/Height(number of squares)]
$ICUBcontrib_DIR/share/ICUBcontrib/contexts/chessEyeTest
$ICUBcontrib_DIR/share/ICUBcontrib/templates/applications/ .xml


== Hardware ==
== Hardware ==
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[[Image:ICub_headV2_CAN0_board14_disconnected.jpg|600px|How to disconnect board 14.]]
[[Image:ICub_headV2_CAN0_board14_disconnected.jpg|600px|How to disconnect board 14.]]
== Software ==
=== Updating YARP and iCub on Chico ===
Refer to [[pc104#Repositories on icubsrv laptop]].
=== CMake bug ===
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.
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 ==


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


Keep same Release and Version numbers; only increment Build number. Refer to [http://eris.liralab.it/wiki/Firmware this page] from the official iCub manual, using the following script:
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
   ./updateRobot.sh updateLisboa01.txt
== iCub health checkup week ==
On March 1st 2011 we decided to test the robot for one week, to assess its current "health" state. The results of the test are stored in [[iCubHealthCheckupWeek_03_2011]].


[[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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