iCub imitation demo

PLEASE look at the last warning point in this page before trying to execute this demo.

• Start up the iCub robot. Instructions here.

Prerequisites: yarp libraries, python, python-numpy, NFS-mount of /usr/demos maybe others…(fix)

• Configure the yarp namespace to /icub

yarp namespace /icub

• Add your laptop to the local network of the iCub (x is any number not already used) (already used: 1,2,3)

ifconfig eth0:0 10.0.0.x netmask 255.255.255.0

• Check that you have network connection to the robot and the robot laptop:

ping 10.0.0.1
ping 10.0.0.2

• Let yarp detect the yarp server from the robot laptop:

yarp detect --write

• If last step doesn't work try:

yarp conf 10.0.0.1 10000

• Get the OID5 repository.
• Inside the oid5 repository you will find the application memoman2icub in tools/memoman2icub. Change to that directory.
• Inside of this directory you will also find an example data directory (memoman_data), the corresponding videos for this data can be found in /usr/demos/ias/videos/icub/icub_memoman/ in the chairs NFS. You may have to copy these files to your local harddisk.
• Run the following command:

./ahl2robot_yarp.py -v /usr/demos/ias/videos/icub/icub_memoman/cam0.avi -f 25 --speedcontrol --repeat -s 309 memoman_data/SmoothedPose0*

• In last step the robot should start moving according to the human movements on the video. A video window will appear on the client's screen. You can maximize the video window using your window manager buttons.
• For stopping the demo, just press _one_ CTRL-c in the console where ./ahl2robot_yarp.py was started. The application will park the robot and finally send zero speeds to the motors.
• WARNING: READ THIS!!. Please use only _one_ CTRL-c to stop the demo application. Don't try to kill the application in other ways. This application is a position controller sending speeds commands to the robot. If this application stops communicating with the robot, to robot will keep executing the last received speed until it crashes against something. When the user sends one CTRL-c the application parks and stops the robot properly.