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:

 Id:5 T:1 R:2 Id:7 T:1 R:2 
 pcan [3] have not heard from board 6 (channel 0) since 72.10 seconds
 pcan [3] have not heard from board 6 (channel 1) since 72.10 seconds
 pcan [3] have not heard from board 8 (channel 0) since 72.10 seconds
 pcan [3] have not heard from board 8 (channel 1) since 72.10 seconds
 pcan [3] have not heard from board 9 (channel 0) since 72.10 seconds
 pcan [3] have not heard from board 9 (channel 1) since 72.10 seconds
 pcan [3] have not heard from board 10 (channel 0) since 72.10 seconds
 pcan [3] have not heard from board 10 (channel 1) since 72.10 seconds
 pcan [3] joint 2, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 3, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 6, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 7, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 8, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 9, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 10, warning not enough encoder messages (received 0 msgs)
 pcan [3] joint 11, warning not enough encoder messages (received 0 msgs)
 LEGSCALIB::Timeout on joint 6 while going to zero!

The yoga at this point starts and works well with head, torso and arms, while the legs are still. The fingers (pinky and fourth finger) move at an acceptable velocity. robotMotorGui starts, but the legs don't report any information and cannot be moved.

• Stopping the iCubInterface takes a long time because the legs don't park, but eventually succeeds.
• Starting the iCubInterface again leads to some timeout errors on the legs, that I couldn't write down. The yoga started, using the legs, but not bending the left knee.
• Stopping the iCubInterface still takes a long time.
• Starting the iCubInterface for the third time gives same timeout errors as in trial #2: "LEGSCALIB::Timeout on joint 2 while going to zero!

" "LEGSCALIB::Timeout on joint 3 while going to zero!" "LEGSCALIB::Timeout on joint 4 while going to zero!" and "LEGSCALIB::Timeout on joint 5 while going to zero!". yoga behaves the same as in trial #2.

• something was disconnected on the board controlling the left knee of the iCub, now Ricardo fixed it and yoga works like a charm.

still, the iCubInterface complains:

 pcan [0] have not heard from board 5 (channel 0) since 93.35 seconds
 pcan [0] have not heard from board 5 (channel 1) since 93.35 seconds
 pcan [0] have not heard from board 6 (channel 0) since 93.37 seconds
 pcan [0] have not heard from board 6 (channel 1) since 93.37 seconds
 pcan [0] joint 6, warning not enough encoder messages (received 0 msgs)
 pcan [0] joint 7, warning not enough encoder messages (received 0 msgs)
 pcan [0] joint 8, warning not enough encoder messages (received 0 msgs)
 pcan [0] joint 9, warning not enough encoder messages (received 0 msgs)

in the robotMotorGui you can change the position of the torso joints, but the robot does not move. Everything else is moving OK, but the left hand last two fingers: they move with a lag and very slowly. .

Demo 3

• pc104 and cameras as in Demo1