ICub logbook

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

2012

• 2012-01-20: yarp2 and iCub updated on all the machines (pc104, chico3, icubbrain clusters)

2011

• 2011-11-18: yarp2 and iCub updated on all the machines (pc104, chico3, icubbrain clusters). Configured icubsrv laptop so that it sees the internet (DNS servers in /etc/resolv.conf). TODO: pc104 ntp
• 2011-10-xx: ongoing software updates and tests; currently there is a major mechanical issue with the head tilt (j0)
• 2011-10-12: upgraded iCubLisboa01 returns to the lab after about 3 months
• 2011-07-04: iCubLisboa01 leaves the lab for hardware upgrades in Italy
• 2011-05-17: yarp_completion (bash completion) installed on chico3.
• 2011-03-1x: yarp2 and iCub updated on all the machines (pc104, chico3, clusters). Tests are OK for now. If you need to go back to a previous state, use the "10Mar2011" backup directories.
• 2011-03-07: iCubInterface is shutting down gracefully. Was due to zombie processes (iKinCartesianSolvers on the icubbrain2). [The problem was trivial but I am not deleting these posts as it might help in troubleshooting in the future --ashish]. By the way, there are still some Can Errors on Boards 1 and 6.
• 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).

From the iCubInterface:-
pcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.03[ms]
 Can Errors --  Device Tx:1 Rx:0 TxOvf: 1 RxOvf BusOff: 0 -- Driver Fifo Tx:0 Rx:0
pcan [0] printing boards errors:
None
pcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.05[ms] av.loopT :0.04[ms]
 Can Errors --  Device Tx:2 Rx:0 TxOvf: 2 RxOvf BusOff: 81 -- Driver Fifo Tx:0 Rx:81
pcan [2] printing boards errors:
None

• 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. FIXED (some cables connecting head to neck were not working well).
• 2011-01-25: eyes calibrated, repositories updated on Chico3, robotMotorGui now supports Cartesian Interface (requires iKinCartesianSolver to run)
• 2011-01-05: Chico fixed

2010

• 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

• 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.

• 2009-09-11: installed yarp2 and iCub SVN on cortex6.