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How-to-setup-iCub-for-wbc-experiments.md

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HOW TO SETUP ICUB FOR WHOLE BODY CONTROL EXPERIMENTS

Disclaimer: this documentation is not a complete guide on how to work with iCub, and it is intended to be used by users that already have an idea of what they are doing. If you are looking for a more detailed guide, check the icub-wiki.

Preliminary checks

Update yarp, icub-main and robotology-superbuild

First, it is necessary to update the yarp, icub-main and robotology-superbuild directories on the iCub laptop, as well as on the computer used for launching the Simulink controllers (if different). You can do this by opening a terminal, and by pointing the source folder of each repository (e.g. the yarp folder). Then, type the command:

git pull

You don't have to repeat this operation on computers which share sources folders with the iCub laptop.

Then, if there are some updates, you can compile them by running the commands:

cd build cmake . make

You may also need to update all the repositories downloaded through the robotology-superbuild. Go into the robotology-superbuild folder and run:

cd build make update-all

IMPORTANT before running make-update all, be sure all repositories downloaded with the superbuild are in master branch (repositories are inside the robotology-superbuild/robotology folder. Go into the source directory of each repo (e.g. iDyntree) and check the current github branch by running the git status command. If they are not in master branch, then be sure the YCM_DEVEL_MODE option is activated for the corresponding repository. You can check this in the robotology-superbuild/build folder, by running:

ccmake ./

and by looking at the status of the options of the format YCM_DEVEL_MODE_name_of_the_repo.

To update the iCub on-board PC (pc104 or icub-head), first connect to it using the command

ssh pc104 or ssh icub-head

and if necessary add -X option to redirect the graphic output to your local machine. Then follow the same procedure presented before.

Firmware update

iCub software version anterior to 1.8.0:

  • It is not recommended to perform the firmware update without the support from IIT.

Latest iCub software version:

  • Look here for instructions on how to perform an update using Firmware-updater.

  • You can find information about CAN-bus numbers and CAN-bus device drivers here.

Calibration of the robot

Joint encoders calibration

On iCub it is sometimes required to re-calibrate the “zero position” associated to the joints of the robot. The robot should be fixed on the pole for calibration. Fine calibration can be done with the help of a level tool, as described in the wiki. Remember to calibrate the torso joints before the neck and arms joints. For example:

  • On a terminal run the yarpmotorgui, then switch to the tab associated to the body part you want to calibrate. Then, click the idle button for the joints to calibrate, allowing you to move them freely. With the help of a level tool, move the joint such that you can measure that it is level. Read the joint encoder value corresponding to the "level" position.

  • This value will be added in the specific file associated to the joint. On the on-board PC, go to the folder containing the ".xml" calibration files for your robot and open the corresponding file (example: .../robots/$ROBOT_NAME/calibrators/left\_leg\_calib.xml). Add the encoder value that you have previously noted to the current calibrationDelta of the joint (each number of the parameter calibrationDelta corresponds to a joint). For example, we add some values to the line:

    <param name="calibrationDelta"> -5.0  8.7  -11.4  -0.6  0.0 </param>

Restart the robot to apply the modifications. Check that the joints were successfully calibrated.

IMU calibration

For IMU calibration, the robot has to be on the pole, in home position (i.e. all joints to 0). Actually, we calibrate the neck pitch and roll such that the IMU linear accelerations readings are, as expected, [0 0 9.81] along the [x, y, z] axis of an inertial reference frame with the z axis pointing against the gravity.

You need to receive the acceleration values of the head to be able to calibrate it: you may launch (or create) a program which reads the IMU acceleration data. Just for that, this repository provides the Simulink model debug_BoschIMU.mdl.

In yarpmotorgui, switch to the tab associated to the head. Then, click the idle button for the joints to calibrate: neck_pitch and neck_roll, allowing you to move them freely. Then, move the head joints until signals are near their desired values. Note the encoder values and proceed as before.

Launch the iCub

Once everything is correctly updated and calibrated:

  1. Switch on the power supplies (wait a little for the power to come to the iCub).

  2. Launch yarpmanager on the icub external PC. Properly configure the cluster. Then run the application icub_startup_wbd.xml.

Some little things to know

  • Be careful with the head and hands of the robot.

  • How to hide DEBUG information: in the cmake information, put the variable DEBUG from DEBUG to RELEASE.