Chico: Difference between revisions

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= Chico Instructions =
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]].


== Preliminaries ==
''For demo instructions, refer to [[iCub instructions]].''


ICub has a PC104 with a flash disk. configured to 10.10.1.50
''Note: see [[Chico/Archive]] about historical information.''
it mounts the repositories that are on the laptop 10.10.1.51


the laptop has 2 repositories
TODO: to be completed and updated, in particular the firmware information below is obsolete.


/export/code_64 for the laptop (compiled for 32bit)
= Preliminaries =
/export/code_pc104 for the robot (compiled for 64bit)


they are anonymous, so changes are not commitable (DO NOT CHANGE)
* 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)


pass icub icub
= Maintenance =


everything running with /icub namespace
== Arm fine calibration ==


== Running a demo ==
Refer to http://wiki.icub.org/wiki/ArmFineCalibration


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


run the yarp server
== Hardware ==
"yarp server"
        run the yarp run server
        "yarp run --server /icubsrv"
        optional: connect an external monitor and run ./home/icub/dualScreen


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:


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


it will mount the repository
When a joint/encoder breaks, refer to [[Chico joint calibration]].
        set the namespace to /icub
        "yarp namespace /icub"
        make sure the name server is visible
        "yarp where" should detect 10.10.1.51
        run the yarp run server
        "yarp run --server /pc104"


== 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


3- (Skip this fo now) Start yarp run
[[Category:Robots]]
 
[[Category:Vislab]]
> 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
 
        cd /usr/local/src/robot/iCub/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"
./cameras stop
 
 
5- Run iCubInterface (hardware except cameras)
 
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 demo
 
iCubDemoY3 --config /app/demoy3/fullBody.txt
 
 
[[Category:Robots]][[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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