Chico: Difference between revisions
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= Preliminaries = | = Preliminaries = | ||
* the iCub has a [[pc104|PC104]] with a flash disk configured | * 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 ''' | * it mounts the repositories that are on the '''icub-laptop''' machine (10.10.1.53) | ||
= Maintenance = | = Maintenance = |
Revision as of 15:59, 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TODO: to be completed and updated, in particular the firmware information below is obsolete.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 robotMotorGui set the arm joints to [-90 15 15 90]. Visually compare the arm angles with the reference picture.
Camera calibration
Use the chessEyeTest tool ($ICUB_ROOT/contrib/src/misc/chessEyeTest):
chessEyeTest.ini [boardSize(square length); boardWidth/Height(number of squares)] $ICUBcontrib_DIR/share/ICUBcontrib/contexts/chessEyeTest $ICUBcontrib_DIR/share/ICUBcontrib/templates/applications/ .xml
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:
Software
Updating YARP and iCub on Chico
Refer to pc104#Repositories on icubsrv laptop.
CMake bug
Due to a CMake bug, whenever you compile something that features icubmoddev (the successor to yarpdev), you need to run CMake configure once; exit; without deleting the cache, run CMake configure again and proceed. So far, this is relevant for the pc104 as well as for machines that have to run other icubmoddev instances, e.g., a server running iKinArmCtrl.
Hardware
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
iCub health checkup week
On March 1st 2011 we decided to test the robot for one week, to assess its current "health" state. The results of the test are stored in iCubHealthCheckupWeek_03_2011.