iCub MED-ical 27/1/2023

[LZC-68]

arren, luna, simon, zhichao

Maintenance

• [ ] camera FPGA/driver issues. Missing data at edges, not guaranteed to start first time and you need expert knowledge to reset it. https://github.com/robotology/event-driven/issues/166
• [ ] zynqGrabber update for splitting channels/skin.
• normally done in vPreProcess but early tests show that the new ultrascale should be able to handle the load.
• problem with skin labeling in the bit pattern so we can't tell if it's vision or skin?
  • [ ] update firmware?
  • last updated by Luna and Marco, Summer 2022. So we probably need to look at it.
  • we should also find a link to instructions on how to do this.
  • [ ] update software (YARP/event-driven etc.)
  • superbuild probably needs a pull
  • update instructions on how to do this
  • [ ] follow up on open hardware issues
  • we should open a ticket about the missing face.
  • [ ] open issue for discussion on updating fingertips
  • we should open a ticket to discuss viability of updating fingertips
  • [ ] merge ev2
  • [ ] write TODO list for each icub-MED-ical

Education

• [ ] how the event-driven pipeline works. cameras + skin hardware, ultrascale firmware etc., zynqGrabber,
• [ ] boot up the robot correctly, and turn on event-cameras etc.
• [ ] yarp stuff, best practices for yarp network, datadumper, data player, yarpmanger
• [ ] how to control the robot with kinematics
• [ ] how to run the demos
• [ ] how to calibrate cameras

Demos

• [ ] visualisation
• stereo?
• skin?
• icub-breathers
• [ ] 2D vision tracking of paddle/ball with gaze following
• update with ev2 and restructure the code to be 1 c++
• [ ] 6-DoF object tracking
• test if it works with on-board cameras
• robust initialisation
• [ ] HPE
• install it on the icub laptops
• [ ] braille
• new fingertips, code for the movement, demo framework.
• [ ] visuo-tactile ultra-grasping
• here is an idea for the future to try to combine vision and tactile in a simple demo such that it might promote research in this direction

[arrenglover]

• [x] robotology-superbuild on icub-head was updated
• [x] we tried to update the firmware but got stuck on robotology-superbuild not updating the files for icub-firmware-build, so the latest firmware was not available. @lunagava was going to ask if we did something wrong.

[lunagava]

I had to git pull inside icub-firmware-build. I uploaded the latest applications for the firmware and checked the yarprobotinterface works calibrating the robot correctly.

[arrenglover]

I had to git pull inside icub-firmware-build

did you find out why this was required. i.e. why icub-firmware-build is not updated when robotology-superbuild is updated? The solution you did is a work-around, can we fix the problem?

[lunagava]

The icub-firmware guy told me that usually when you do git pull inside robotology-superbuild, the icub-firmware-build should be updated as well. He suggested me doing a git fetch --all and checking that everything is on master and not on a specific version but I already did a git pull inside icub-firmware-build so now it is difficult to simulate again the problem.

[lunagava]

The icub-firmware-build is not supposed to be inside robotology-superbuild. Someone has git clone wrongly inside.