ICubHealthCheckupWeek 03 2011

This page contains the results of all tests run on the iCub between March 2nd 2011 and March 8th 2011.

March 2nd 2011, 15:00

Demo 1: old ball reaching

• pc104 started normally.
• cameras (camerasSetForTracking.sh) started normally and operated at ~30fps.
• iCubInterface (iCuyebInterface --from iCubInterfaceSimple.ini) started normally and reported zero errors.
• demoReach_LeftHand_RightEye.sh started normally, but images were shown at ~26fps instead of 30. The tracker module is shown as using 107% of the computing power of a core, this should be under 100%.tracking works, but is not perfect: even when the ball is still, the likelihood is not over the threshold (yellow ring instead of green ring). There is evident overshooting in the movement of the eyes and of the head. All these problems might be caused by the fact that in this demo we are using a hacked version of a module, because it is not in the main branch of the repository.
• turning off the iCubInterface worked well, the robot was parked normally.

Demo 2 yoga with non-cartesian iCubInterface

• iCubInterface (iCuyebInterface --from iCubInterfaceSimple.ini) started normally and reported zero errors.
• running " iCubDemoY3 --config /app/demoy3/fullBody.txt" reports error: "Problem connecting to /icub/right_leg/rpc:i, is the remote device available?" (plus some others). The legs were not enabled by the configuration files on pc104:

 /usr/local/src/robot/iCub/app/iCubLisboa01/conf/iCubInterfaceSimple.ini
 /usr/local/src/robot/iCub/app/iCubLisboa01/conf/icubSafe.ini (specifically in this one here)
 /usr/local/src/robot/iCub/app/iCubLisboa01/conf/icub_legs_safe.ini

enabling the legs produced this error (repeatedly for some time, then it disappeared) in the iCubInterface: pcan [1] have not heard from board 1 (channel 0) since 24.06 seconds pcan [1] have not heard from board 1 (channel 1) since 24.06 seconds pcan [1] have not heard from board 2 (channel 0) since 24.06 seconds pcan [1] have not heard from board 2 (channel 1) since 24.06 seconds pcan [1] have not heard from board 3 (channel 0) since 24.01 seconds pcan [1] have not heard from board 3 (channel 1) since 24.01 seconds pcan [1] have not heard from board 4 (channel 0) since 24.01 seconds pcan [1] have not heard from board 4 (channel 1) since 24.01 seconds pcan [1] have not heard from board 5 (channel 0) since 24.01 seconds pcan [1] have not heard from board 5 (channel 1) since 24.01 seconds pcan [1] have not heard from board 6 (channel 0) since 24.01 seconds pcan [1] have not heard from board 6 (channel 1) since 24.01 seconds pcan [1] have not heard from board 7 (channel 0) since 24.01 seconds pcan [1] have not heard from board 7 (channel 1) since 24.01 seconds pcan [1] have not heard from board 8 (channel 0) since 24.01 seconds pcan [1] have not heard from board 8 (channel 1) since 24.01 seconds The yoga still won't work, and the robotMotorGui does not start when the legs are selected.

Demo 3

• pc104 and cameras as in Demo1