ICub logbook: Difference between revisions

Revision as of 16:45, 7 March 2011

Please use this page to take note of any changes to hardware, software or network resources that may interfere with anyone's work.

2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).
2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),
2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)
2011-03-07: iCubInterface could not contact boards 6, 8, 9, 10
2011-03-07: iCubInterface behaving wierdly: Board 1, 2, 3, 5, 7 could not be contacted
2011-03-07: right arm fixed
2011-03-07: right arm broken (cable broken near the elbow)
2011-02-08: the head is not working properly (at least in the ball tracking configuration), please be extremely careful.
2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)
2011-01-05: Chico fixed

2010-12-30: Chico's right arm fixed; problem with torso though
2010-12-27: Chico's right arm broken
2010-11-2x: updates of chico3, icubsrv (-> pc104), icubbrains, cortexes
2010-11-18: updated the icubbrains OS
2010-11-08: left arm fixed. Joint j15 of right arm does not work correctly, though. iCubInterface can be executed safely with any config file.
2010-10-08: left arm of Chico broken. For the time being, disable it by running iCubInterface --from iCubInterfaceSimpleLeftArmDisabled.ini
2010-09-02: changed two of the software zeros head tilt and eye tilt to set the optical axis parallel to the robot X,Y coordinate axes. This change was made in the following file: $ICUB_ROOT/app/iCubLisboa01/conf/icub_head_safe.ini
2010-07-14: updated yarp and iCub on chico3
2010-07-13: the problem with demoAffV2 was fixed: it is needed to link to a specific version of /usr/local/lib/libcxcore.a for the PNL to work.
2010-07-13: updated yarp and iCub on cortex 1 to 5, installed version 2.6 of cmake manually, using this archive. Two modules of iCub have been disabled in the CMakeList.txt file, because they were not compiling properly: demoAffV2 and crawling.
2010-06-02: added the following line in $ICUB_ROOT/app/iCubLisboa01/conf/icubEyes.ini, under the groups CAMERA_CALIBRATION_LEFT and _RIGHT. This change makes camCalib run again at 30 fps, thus improving other vision modules e.g. ball tracker as well:

 fps 30

2010-04-08: updated yarp and iCub on pc104 (instructions); updated icubbrains to enable the Cartesian Interface
2010-04-01: updated yarp and iCub on the icubbrains
2010-02-08: changed one of the software joint limits of the torso to reflect our real (hardware) limit: 70->35 degrees. This change was made in the following files: $ICUB_ROOT/app/iCubLisboa01/conf/{icub_head_safe,icub_head_torso,icub_head_torso_raw,icub_head_torso_safe,icub_torso_safe}.ini
2010-02-04: updated yarp and iCub on: chico3, icubsrv (for pc104), icubbrains. Fixed ntp (time) hook script, hopefully for good this time.

2009-12-21: right wrist is currently broken, left one is working. Please use iCubInterface --from iCubInterfaceRightArmDisabled.ini for the time being
2009-12-18: updated IPOPT on both icubbrains (see there for versions).
2009-12-16: updated YARP and iCub SVN on icubbrain2.
2009-12-09: updated YARP and iCub on chico3 (current issue: openvislab libraries, Christian is looking into it) and on cortex1-5 (there was an issue with iKinCartesianSolver; toggling USE_ICUB_MOD to off fixed it for now)
2009-11-12: cortex1-5 now run IPOPT 3.7.0.
2009-09-23: both arms working. You can safely use icubSafe.ini again.
2009-09-21: left wrist is currently broken, right one is working. Please use iCubInterface --config $ICUB_ROOT/app/iCubLisboa01/icubSafeLeftArmDisabled.ini
2009-09-21: checked controllers firmware build numbers - they match the latest releases. (alex)
2009-09-18: updated controllers firmware. (alex)
2009-09-18: both the iCub wrists are currently broken
2009-09-16: upgraded pc104, icubsrv and boot scripts. Still missing: ntp (time).
2009-09-16: installed yarp2 and iCub SVN on chico3. Custom, uncommited files that used to be in /home/icub/iCub/app/{default,iCubLisboa01}/{conf,scripts} are backed up in /home/icub/iCub_cvs.
2009-09-14: installed yarp2 SVN (2.2.5rc0, revision 7446) and iCub SVN (revision 727) on cortex1-5. iKin was complaining about not finding libipopt.so.0; this was fixed by setting the environment variable

 LD_LIBRARY_PATH=/opt/Ipopt-3.5.5-linux-x86_32-gcc4.2.4/lib/

into /home/icub/.bash_env.

@@ Line 2: / Line 2: @@
 == 2011 ==
+* 2011-03-07: iCubInterface has not been shutting down gracefully. This behavior was seen earlier as well when we were having troubles with the iCub head (Last time it was probably due to a cable being pulled around the neck).
 * 2011-03-07: Joint 15 of the right arm is making noises (Nuno suspects that there is something wrong with the gearbox. Only 1 gearbox left in stock. Should order more),
 * 2011-03-07: iCubInterface no more board errors (appears to be random: probably some cable is loose)