Difference between revisions of "UPMC iCub project"

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Here are details of the UPMC iCub project : [http://macsi.isir.upmc.fr/doku.php?id=overview MACSi]
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== About this guide ==
  
The iCub (the first one) has been delivered to Paris. Here's a photo showing some initial testing.
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=== General information ===
[[Image:icub-paris.jpg|right|300px|thumb|The iCub in its temporary installation in Paris]]
 
  
== Technical informations needed to run icub ==
+
This guide is essentially a collection of several wiki pages to support the activities around the iCub in ISIR, UPMC.
 +
It provides instructions for the robot maintenance and its configuration, for developers and users.
 +
It is '''complementary to the official manual of iCub''', and contains '''details of some configurations specific to iCubParis'''.
  
A list of the steps needed to run the robot is available and updated as often as possible [http://eris.liralab.it/wiki/UPMC_iCub_project/run_icub here].
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=== Support ===
  
== Preliminary steps ==
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The guide is written and maintained by [http://chronos.isir.upmc.fr/~ivaldi/ Serena Ivaldi].
  
=== Assembly - July 2008 ===
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Please '''write to Serena for any problem''' you may encounter in following the instructions on these pages! The robot configuration and its cluster is in continuous evolution!
  
Our robot was assembled in July 2008 at IIT. Damien Zaremba, an engineer related to our Lab., supervised the assembly. Pictures, videos and documentation (some of it being in French) are currently hosted on a svn server which will be made accessible soon. Meanwhile, Vincent Padois was attending the [http://eris.liralab.it/wiki/VVV08 VVV08 summer school] to learn the basics about [http://eris.liralab.it/yarp/ yarp] and the [http://eris.liralab.it/iCub/dox/html/index.html iCub software].
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=== Printable versions of the guide ===
 +
* [[File:upmc_guide_may2013.pdf]]
  
[[Image:iCub-paris-torso.jpg|center|500px|thumb|Our robots' torso during assembly.]]
 
  
=== Delivery - October 08th 2008 ===
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== Projects ==
  
After two months of testing at IIT, the robot left Genova on the 29th of September and arrived in the lab. on the 08th of October.
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<gallery>
 +
File:codyco.jpg|The CODYCO Project logo
 +
File:Macsi.jpg|The MACSi Project logo
 +
</gallery>
  
=== First start-up - October 14th 2008 ===
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=== CoDyCo ===
  
Marco Maggiali and Davide Dellepiane came to Paris to help us set-up and start our robot. Everything was done in less than one day.
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CoDyCo is a humanoid robotics project based on the iCub humanoid robot. It is a EU STREP project from 2013 to 2017.
  
[[Image:iCub-paris-start.jpg|center|300px|thumb|The first "demo" in the lab.]]
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* CoDyCo software repository: [https://github.com/robotology/codyco-superbuild github]
 +
* [http://wiki.icub.org/codyco/dox/html/index.html CoDyCo software documentation] (work in progress)
  
== First steps ==
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=== MACSi ===
  
=== Supporting structure ===
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[http://macsi.isir.upmc.fr/ MACSi] is a developmental robotics project based on the iCub humanoid robot. It is funded an as ANR Blanc project from 2010 to 2012.
  
We have built a supporting structure for the robot quite similar to the one used by IIT. We will transfer the robot from the temporary structure to this one soon.
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* [http://wiki.icub.org/wiki/UPMC_iCub_project/MACSi_Software Macsi software repository]
 +
* [http://chronos.isir.upmc.fr/~ivaldi/macsi/doc/ Macsi software documentation] (work in progress)
  
[[Image:iCub-paris-structure.jpg|center|300px|thumb|Our structure at the preliminary stage]]
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=== YARP-ROS bridge ===
  
=== Starting iCub alone===
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We are building a YARP-ROS bridge to connect bidirectionally YARP ports with ROS topics. The code is currently part of [http://wiki.icub.org/wiki/UPMC_iCub_project/MACSi_Software Macsi's software], so install it then read the documentation to make it work.
  
We have started the robot following the procedures shown during the first start-up. {Aside from our own network problems} -> SOLVED, everything went well. {We still can't connect to the cameras but this should be solved soon} -> SOLVED. {We also have a small problem with the proximal motion of the left thumb as well as with the right eye which a bit diverging on the right after calibration.} -> partly SOLVED.
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* [http://wiki.icub.org/wiki/UPMC_iCub_project/YARP_ROS_bridge YARP_ROS_bridge] (work in progress)
  
== Events ==
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=== EDHHI ===
  
=== iCub at VES 2008 ===
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[http://chronos.isir.upmc.fr/~ivaldi/edhhi.htm Eddhi] aims at investigating the engagement of the human during interaction with iCub. It is funded by the Labex SMART from 09/2013 for a year.
  
iCub was doing some demos on the ISIR-UPMC stand at the [http://www.villeeuropeennedessciences.fr/uk/index.htm European city of Science] expo. in Paris from the 14th to the 16th of November 2008. Pictures available on request. Here is a [http://vpadois.free.fr/envrac/iCub_movie_ves08_medium_res.avi video] (with French comments) we prepared for this occasion.
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* [http://wiki.icub.org/wiki/UPMC_iCub_project/EDHHI_instructions Instructions for the EDHHI experiments] (work in progress)
  
=== iCub at ICT 2008 ===
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=== Joints Torque sensors calibration ===
  
iCub joined its cousin from IIT at ICT 2008 in Lyon from the 25th to the 27th of November.
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The following page describes the protocol of joints torque sensors calibration:
  
 +
* [[JTS_Calibration | Joint Torque Sensor calibration module]]
  
=== iCub at ISIR 2010 ===
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== Technical information for the iCub users in ISIR Lab ==
  
We have changed a part of icub that can be viewed as its neck. This was done in order to have more stability and to avoid backlashes in screws. The L of the neck change to a T.
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=== Cluster configuration ===
  
[[Image:iCubneck.jpg|center|500px|thumb|Icub neck after replacement.]]
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* configuration: [http://wiki.icub.org/wiki/UPMC_iCub_project/MACSi_cluster here]
 +
* script files and demos: [http://wiki.icub.org/wiki/UPMC_iCub_project/MACSi_scripts here]
 +
* libraries and environment variables: [http://wiki.icub.org/wiki/UPMC_iCub_project/libraries here]
  
=== iCub at ISIR 2011 ===
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=== Installing iCub on your pc ===
  
The 7 january of year 2011, icub lost its head. Some pictures can also be found in the svn isir.
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To install all the software you need for developing, running the simulator, and eventually test your applications on the robot, just follow the instructions on the [http://wiki.icub.org/wiki/Manual iCub Manual].
  
[[Image:iCub-lost_head.jpg|center|500px|thumb|Robot during disassembly.]]
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* A more "verbose" guide to the installation, with pointers to the manual, is [http://wiki.icub.org/wiki/UPMC_iCub_project/Short_guide_to_installation here]
 +
* A short guide for installing iCub simulator in Ubuntu: [http://www.coboslab.psychologie.uni-wuerzburg.de/fileadmin/ext00209/user_upload/Publications/2011/2011Stalph-icub.pdf pdf]
 +
* Installing other libraries for iCub: [http://wiki.icub.org/wiki/UPMC_iCub_project/Installing_libraries here]
 +
 
 +
To install more advanced software, for example for controlling whole-body movements of iCub and running whole-body simulations in XDE, you will need to install few more libraries:
 +
 
 +
* Installing ORC framework: [http://wiki.icub.org/wiki/UPMC_iCub_project/Installing_ORC here]
 +
* Installing ORCISIR framework: [http://wiki.icub.org/wiki/UPMC_iCub_project/Installing_ORCISIR here]
 +
 
 +
=== iCub Simulators ===
 +
 
 +
* the official simulator of iCub based on ODE: [http://wiki.icub.org/wiki/ICub_Simulator_Installation installation]
 +
* simulator based on python (Arboris-Python): [http://wiki.icub.org/wiki/UPMC_iCub_project/Arboris-Python installation] and first steps
 +
* simulator based on XDE: [http://wiki.icub.org/wiki/UPMC_iCub_project/XDE-simulator installation] and first steps
 +
 
 +
=== Writing code ===
 +
 
 +
* using git/svn: [http://wiki.icub.org/wiki/UPMC_iCub_project/HowTo_git_svn a short how-to]
 +
* developing controllers in XDE: [http://wiki.icub.org/wiki/UPMC_iCub_project/XDE-simulator-dev installation of packages for developing], [http://wiki.icub.org/wiki/UPMC_iCub_project/XDE-simulator-dev-basic basic development information]
 +
 
 +
== Using iCub ==
 +
 
 +
'''All iCub users must read these instructions before using the iCub!'''
 +
 
 +
* description of the '''setup in ISIR''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Setup_iCubParis01 here]. This is useful for knowing the elements of the setup: robot, devices, console, power supplies, switches, emergency button.
 +
 
 +
* '''starting yarp''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Starting_yarp here]. This explains what to do to start yarp on the cluster - this must be done before starting the iCub.
 +
 
 +
* '''starting iCub''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Starting_iCub here]. This explains what to do to start the icub:  connect to the pc104 and launch the iCubInterface to calibrate the iCub.
 +
 
 +
* '''using iCub (basic)''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Using_iCub_(basic) here]. This explain how to use gyarpmanager or the python managers to start the basic modules of iCub - cartesian controllers, gaze controllers, wholeBodyDynamics.
 +
 
 +
* '''using cameras''': [http://wiki.icub.org/wiki/UPMC_iCub_project/cameras here]. This explains how to launch the device modules for the cameras.
 +
 
 +
* '''using iCub (advanced)''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Using_iCub_(advanced) here] .. will come soon ..
 +
 
 +
* '''using iCub with ROS (advanced)''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Using_iCub_with_ROS here] .. will come soon ..
 +
 
 +
* '''shutting down iCub''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Shutting_down_iCub here]. This explain how to shut down iCub properly.
 +
 
 +
[[File:ICubParis01_setup_serena.png|800px|thumbnail|center|the setup of iCubParis01]]
 +
 
 +
== iCub diary ==
 +
 
 +
If you want to know what happened to the iCub during his first days in ISIR, you can read [http://wiki.icub.org/wiki/UPMC_iCub_project/iCub_diary this page].
 +
The page is no longer maintained because now too many things happen :)
 +
 
 +
Note: a software/hardware log is kept on the desk close to the power supplies. This log/diary is used to keep track of updates (software, firmware, cluster config, ..), hardware/software issues and failures. If you notice something weird on iCub, or a failure happens, write down on it and then mail [http://chronos.isir.upmc.fr/~ivaldi/ Serena] immediately!
 +
 
 +
=== Events ===
 +
 
 +
* Francesco Nori is visiting our lab for one month (June 2013): iCub balanced on his feet and on one foot for the first time!
 +
* InnoRobo 2013. iCub videos were shown in GDR-Robotique's stand in Innorobo, Lyon, on March 2013.
 +
* AERES visit 2012. iCub was shown to the AERES committee with a live demo on November 2012.
 +
* Fete de la Science 2012. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC
 +
* Fete de la Science 2011. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC
 +
* CLAWAR 2011. iCub will be the focus of a workshop organized jointly with Clawar (see [http://clawar2011.isir.upmc.fr/index.php?z=8&perma=workshop_icub the website])
 +
* VES 2008. iCub in the ISIR-UPMC stand at the [http://www.villeeuropeennedessciences.fr/uk/index.htm European city of Science] expo, in Paris (see the [http://vpadois.free.fr/envrac/iCub_movie_ves08_medium_res.avi video] - with French comments)
 +
* ICT 2008. iCub meets its cousin from IIT in Lyon
 +
 
 +
=== Pictures ===
 +
 
 +
[http://macsi.isir.upmc.fr/index.php?perma=1313440321 Here] some pictures of iCub!
 +
 
 +
=== Videos ===
 +
 
 +
[http://www.youtube.com/user/iCubParis/videos?view=0 '''YouTube channel - iCubParis''']
 +
 
 +
----
 +
Acknowledgments for this guide:  [http://chronos.isir.upmc.fr/~ivaldi/ Serena Ivaldi]
 +
 
 +
The old page (before may 2011) is still available here: [http://wiki.icub.org/wiki/UPMC_iCub_project/run_icub here]

Latest revision as of 10:24, 20 February 2015

About this guide

General information

This guide is essentially a collection of several wiki pages to support the activities around the iCub in ISIR, UPMC. It provides instructions for the robot maintenance and its configuration, for developers and users. It is complementary to the official manual of iCub, and contains details of some configurations specific to iCubParis.

Support

The guide is written and maintained by Serena Ivaldi.

Please write to Serena for any problem you may encounter in following the instructions on these pages! The robot configuration and its cluster is in continuous evolution!

Printable versions of the guide


Projects

CoDyCo

CoDyCo is a humanoid robotics project based on the iCub humanoid robot. It is a EU STREP project from 2013 to 2017.

MACSi

MACSi is a developmental robotics project based on the iCub humanoid robot. It is funded an as ANR Blanc project from 2010 to 2012.

YARP-ROS bridge

We are building a YARP-ROS bridge to connect bidirectionally YARP ports with ROS topics. The code is currently part of Macsi's software, so install it then read the documentation to make it work.

EDHHI

Eddhi aims at investigating the engagement of the human during interaction with iCub. It is funded by the Labex SMART from 09/2013 for a year.

Joints Torque sensors calibration

The following page describes the protocol of joints torque sensors calibration:

Technical information for the iCub users in ISIR Lab

Cluster configuration

  • configuration: here
  • script files and demos: here
  • libraries and environment variables: here

Installing iCub on your pc

To install all the software you need for developing, running the simulator, and eventually test your applications on the robot, just follow the instructions on the iCub Manual.

  • A more "verbose" guide to the installation, with pointers to the manual, is here
  • A short guide for installing iCub simulator in Ubuntu: pdf
  • Installing other libraries for iCub: here

To install more advanced software, for example for controlling whole-body movements of iCub and running whole-body simulations in XDE, you will need to install few more libraries:

  • Installing ORC framework: here
  • Installing ORCISIR framework: here

iCub Simulators

  • the official simulator of iCub based on ODE: installation
  • simulator based on python (Arboris-Python): installation and first steps
  • simulator based on XDE: installation and first steps

Writing code

Using iCub

All iCub users must read these instructions before using the iCub!

  • description of the setup in ISIR: here. This is useful for knowing the elements of the setup: robot, devices, console, power supplies, switches, emergency button.
  • starting yarp: here. This explains what to do to start yarp on the cluster - this must be done before starting the iCub.
  • starting iCub: here. This explains what to do to start the icub: connect to the pc104 and launch the iCubInterface to calibrate the iCub.
  • using iCub (basic): here. This explain how to use gyarpmanager or the python managers to start the basic modules of iCub - cartesian controllers, gaze controllers, wholeBodyDynamics.
  • using cameras: here. This explains how to launch the device modules for the cameras.
  • using iCub (advanced): here .. will come soon ..
  • using iCub with ROS (advanced): here .. will come soon ..
  • shutting down iCub: here. This explain how to shut down iCub properly.
the setup of iCubParis01

iCub diary

If you want to know what happened to the iCub during his first days in ISIR, you can read this page. The page is no longer maintained because now too many things happen :)

Note: a software/hardware log is kept on the desk close to the power supplies. This log/diary is used to keep track of updates (software, firmware, cluster config, ..), hardware/software issues and failures. If you notice something weird on iCub, or a failure happens, write down on it and then mail Serena immediately!

Events

  • Francesco Nori is visiting our lab for one month (June 2013): iCub balanced on his feet and on one foot for the first time!
  • InnoRobo 2013. iCub videos were shown in GDR-Robotique's stand in Innorobo, Lyon, on March 2013.
  • AERES visit 2012. iCub was shown to the AERES committee with a live demo on November 2012.
  • Fete de la Science 2012. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC
  • Fete de la Science 2011. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC
  • CLAWAR 2011. iCub will be the focus of a workshop organized jointly with Clawar (see the website)
  • VES 2008. iCub in the ISIR-UPMC stand at the European city of Science expo, in Paris (see the video - with French comments)
  • ICT 2008. iCub meets its cousin from IIT in Lyon

Pictures

Here some pictures of iCub!

Videos

YouTube channel - iCubParis


Acknowledgments for this guide: Serena Ivaldi

The old page (before may 2011) is still available here: here