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| Alternatively, the second command can use the <code>cameras_640x480.xml</code> configuration, if you need a larger resolution. | | Alternatively, the second command can use the <code>cameras_640x480.xml</code> configuration, if you need a larger resolution. |
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| = Very old information (Innovation Days 2009 archive) =
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| == Facial expressions ==
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|
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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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|
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| * Start the facial expression demo by typing ''one'' of these two sequences 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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|
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| == SIFT Object Detection and Tracking demo ==
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| Ignore this for now, as some libraries are not compiling.
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| ''[controlGaze2 COMPILATION TO BE FIXED ON THE SERVERS - PROBLEMS WITH EGOSPHERELIB_LIBRARIES and PREDICTORS_LIBRARIES]''
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|
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| Assumptions:
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| * [[#Cameras | cameras]] are running
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| * [[#iCubInterface | iCubInterface]] is running at /icub/head (in order to read encoder values)
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| On any machine, run:
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| $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/controlGazeManual.sh
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| $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/attentionObjects/noEgoSetup/CalibBothStart.sh
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| On any machine (preferably one of the icubbrains, at this task is computationally heavy) type:
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| $ICUB_DIR/app/$ICUB_ROBOTNAME/scripts/attentionObjects/noEgoSetup/startSiftObjectRepresentation.sh
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|
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| If you want to change the configuration, do:
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| nano -w $ICUB_DIR/app/$ICUB_ROBOTNAME/conf/icubEyes.ini
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|
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| == Attention system demo ==
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|
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| Assumptions:
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| * [[#Cameras | /icub/cam/right]] is running at 320x240 pixels
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| * [[#iCubInterface | iCubInterface]] is running at /icub/head
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| Please note: we will run all the modules of this demo on '''icubbrain1''' (64bit), unless specified differently.
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|
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| Start the following module:
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| cd $ICUB_ROOT/app/attentionDistributed/scripts
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| ./camCalibRightManual.sh
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| Then:
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| cd $ICUB_ROOT/app/attentionDistributed/scripts/
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| ./salienceRightManual.sh
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| Then:
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| cd $ICUB_ROOT/app/attentionDistributed/scripts
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| ./egoSphereManual.sh
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| Then:
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| cd $ICUB_ROOT/app/attentionDistributed/scripts
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| ./attentionSelectionManual.sh
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| Then:
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| cd $ICUB_ROOT/app/attentionDistributed/scripts/
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| ./controlGazeManual.sh
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|
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| And finally, but this time on chico3:
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| cd $ICUB_ROOT/app/attentionDistributed/scripts
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| ./appGui.sh
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|
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| Press 'check all ports and connections', followed by pressing '>>' buttons (becoming green), in all the tabs of the GUI.
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| Now, in the 'Salience Right' tab of the GUI, press 'Initialize interface' and move the thresholds a bit (e.g., the 'intensity' one).
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Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to iCub demos.
Useful things to archive
Desktop icons to launch the Application Manager and XMLs
Example: cameras.sh icon (to be placed in ~/Desktop/) contains:
#!/bin/bash
source ~/.bash_env
cd $ICUB_ROOT/app/default/scripts
./manager.py cameras_320x240.xml
Note that Resource Finder searches for XMLs in $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/ first, then in a number of other directories.
Starting YARP components
In case that (i.e., cluster_manager.sh) did not work, you can launch the program in a terminal:
cd $ICUB_ROOT/app/default/scripts
./icub-cluster.py $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/vislab-cluster.xml
Other components
Cameras
In case that (i.e., cameras.sh) did not work, type this inside a chico3 console:
cd $ICUB_ROOT/app/default/scripts
./manager.py cameras_320x240.xml
That XML file is actually located in $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/. Resource Finder gives priority to that directory, when $ICUB_ROBOTNAME is defined, as is the case for us (iCubLisboa01).
Alternatively, the second command can use the cameras_640x480.xml configuration, if you need a larger resolution.