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# Project information
site_name: iCub Tech Docs
site_url: https://icub-tech-iit.github.io/documentation
site_description: Documentation resources for the iCub & R1 robots
site_author: iCub Tech
copyright: BSD 3-Clause License
repo_name: icub-tech-iit/documentation
repo_url: https://github.com/icub-tech-iit/documentation
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not_in_nav: |
/sw_versioning_table/[0-9]*.md
nav:
- 🟦 iCub Tech Docs:
- 0️⃣ Home Page: index.md
- 1️⃣ iCub Starter Kits:
- First steps with the Humanoid iCub: icub_starter_kits/first_steps.md
- ⚙️ iCub HW:
- Summary: icub_hw.md
- The iCub Versions Table:
- iCub Versions Table: icub_versions/index.md
- The iCub Wiring:
- Summary: icub_wiring/index.md
- iCub 1.x: icub_wiring/icub1_x.md
- iCub 2.x: icub_wiring/icub2_x.md
- iCub 3.x: icub_wiring/icub3_x.md
- The iCub Tendons manual:
- Summary: icub_tendons/index.md
- Neck: icub_tendons/neck.md
- Shoulder and Elbow: icub_tendons/shoulder_elbow.md
- Lower Arm:
- Definition: icub_tendons/lower_arm.md
- Version 1:
- Building Phase:
- How-to Cable and Needed Parts V1: icub_tendons/hand_cabling_V1.md
- Repair Phase:
- Disconnection V1: icub_tendons/remove.md
- Lower Arm V1: icub_tendons/lower_arm_V1.md
- Wrist and Hand Cabling V1: icub_tendons/wrist_hand_cabling_V1.md
- Version 2:
- Building Phase:
- How-to Cable and Needed Parts V2: icub_tendons/hand_cabling_V2.md
- Repair Phase:
- Disconnection V2: icub_tendons/remove.md
- Lower Arm V2: icub_tendons/lower_arm_V2.md
- Wrist and Hand Cabling V2: icub_tendons/wrist_hand_cabling_V2.md
- Waist, Leg and Ankle: icub_tendons/waist_legs.md
- The iCub Upgrade Kits:
- Summary: upgrade_kits/index.md
- KIT_002 Update of torso capacitors: upgrade_kits/torso_capacitors/support.md
- KIT_003 Hands Support: upgrade_kits/hands/support.md
- KIT_004 Update upper arm covers : upgrade_kits/upperarm_cover_icub2_5/support.md
- KIT_005 Eyes Motor Replacement Support: upgrade_kits/eyes/support.md
- KIT_006 Update of differential neck pulley: upgrade_kits/differential_neck_pulley/support.md
- KIT_007 Ankle for climbing stairs: upgrade_kits/ankle_for_stairs/support.md
- KIT_008 RealSense Holder: upgrade_kits/realsense_holder/support.md
- KIT_009 iCub Head with 4K Cameras: upgrade_kits/head_4k/support.md
- KIT_010 iCub Backpack with COM-EXPRESS: upgrade_kits/backpack/support.md
- iCub Kinematics:
- Summary: icub_kinematics/index.md
- iCub Joints: icub_kinematics/icub-joints/icub-joints.md
- iCub Joints Limits: icub_kinematics/icub-joints-limits/icub-joints-limits.md
- Range of Motion of the iCub Shoulders: icub_kinematics/icub-shoulders-range-of-motion/icub-shoulders-range-of-motion.md
- Robot Configuration: icub_kinematics/icub-robot-configuration/icub-robot-configuration.md
- iCub Model naming conventions: icub_kinematics/icub-model-naming-conventions/icub-model-naming-conventions.md
- Vergence, Version and Disparity: icub_kinematics/icub-vergence-version/icub-vergence-version.md
- iCub FW Kinematics: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md
- iCub FW Kinematics Arms: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md
- iCub FW Kinematics Fingers: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-fingers.md
- iCub FW Kinematics Head: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-head.md
- iCub FW Kinematics Legs: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-legs.md
- iCub FW Kinematics IMU: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu.md
- iCub 3:
- iCub 3 joints specs: icub3/icub3-joints.md
- ergoCub 1:
- ergoCub 1 joint specs: ergoCub1/ergoCub1-joints.md
- ergoCub 1 wiring:
- Summary: ergoCub1_wiring/index.md
- ergoCub 1.0: ergoCub1_wiring/ergoCub1_0.md
- ergoCub 1.1: ergoCub1_wiring/ergoCub1_1.md
- ergoCub 1.2: ergoCub1_wiring/ergoCub1_2.md
- iCub CPU boards: icub_cpu_boards/icub_cpu_boards.md
- Hands:
- Summary: hands/index.md
- Hands MK5:
- Overview: hands/hands_mk5.md
- Coupling laws: hands/hands_mk5_coupling.md
- Fingertip skin and MMA board: hands/fingertip_and_mma_mk5.md
- Wrists:
- Summary: wrists/index.md
- Wrist MK2:
- Overview of the Wrist Mk2: wrists/wrist_mk2.md
- The Mathematics of the Spherical Joint: wrists/wrist_mk2_math.md
- F/T Sensors:
- Summary: ft_sensors/index.md
- F/T Sensors: ft_sensors/ft_sensors.md
- F/T Onboard IMU: ft_sensors/ft_onboard_imu.md
- Study on change of frame for accelerometer measurements: ft_sensors/change_of_frame_accelerometer.md
- Tactile Sensors:
- Summary: tactile_sensors/index.md
- Physical Sensors: tactile_sensors/hardware/physical_sensors.md
- Power push buttons: robot_power/robot_power_button.md
- Custom components: custom_components/custom_components.md
- 💻 iCub SW:
- Summary: icub_sw.md
- Software Installation:
- Summary: sw_installation/index.md
- Installation from sources:
- Superbuild Installation:
- Windows: sw_installation/windows_from_sources_superbuild.md
- Linux (Debian/Ubuntu): sw_installation/linux_from_sources_superbuild.md
- macOS: sw_installation/macos_from_sources_superbuild.md
- Manual Installation:
- Linux (Debian/Ubuntu): sw_installation/linux_from_sources_manual.md
- Installation from pre-compiled binaries:
- Windows: sw_installation/windows_binaries.md
- Conda packages: sw_installation/conda_binaries.md
- Check your installation: sw_installation/check_your_installation.md
- Installation on specific systems on iCub setup:
- Superbuild Installation:
- icub-head: sw_installation/icub_head_superbuild.md
- Manual Installation:
- icub-head: sw_installation/icub_head_manual.md
- Software Versioning Table: sw_versioning_table/index.md
- The OS for the ergoCub environment:
- Summary: ergocub_operating_systems/index.md
- Network: ergocub_operating_systems/network.md
- ergocub-head:
- Jetpack installation: icub_operating_systems/icubos/jetpack.md
- Post-flashing operations:
- Install CUDA libraries: icub_operating_systems/icubos/install-cuda-libraries.md
- Install librealsense: icub_operating_systems/icubos/install-librealsense.md
- Install jtop: icub_operating_systems/icubos/install-jtop.md
- Install CMake (only for Ubuntu 20.04): icub_operating_systems/icubos/install-cmake.md
- Setup ergoCub screen (only for ergocub-head): icub_operating_systems/icubos/setup-ergocub-screen.md
- ergocub-torso:
- Installation from scratch: ergocub_operating_systems/ergocub_torso/install_from_scratch.md
- The OS for the iCub environment:
- Summary: icub_operating_systems/index.md
- The OS on icub-head:
- Introduction: icub_operating_systems/icubos/icubos.md
- BIOS Tweaks: icub_operating_systems/icubos/bios.md
- Installation:
- Installation from scratch: icub_operating_systems/icubos/installation-from-scratch.md
- Installation from Ansible playbook: icub_operating_systems/icubos/installation-from-ansible-playbook.md
- Installation from pre-built image: icub_operating_systems/icubos/installation-from-image.md
- Networking: icub_operating_systems/icubos/networking.md
- Bluetooth: icub_operating_systems/icubos/bluetooth.md
- User environment: icub_operating_systems/icubos/user-env.md
- Further tasks: icub_operating_systems/icubos/further-tasks.md
- The OS on PC104 (live USB):
- Introduction: icub_operating_systems/pc104/icub-live.md
- Installation: icub_operating_systems/pc104/the-icub-live-installation.md
- 32 bits version: icub_operating_systems/pc104/icub-live-32bits.md
- Details: icub_operating_systems/pc104/the-icub-live-details.md
- The OS on other machines (not on robot):
- Generic iCub environment machines: icub_operating_systems/other-machines/generic-machine.md
- The iCub Server:
- The iCub Dedicated Server:
- Summary: icub_operating_systems/other-machines/icub-server-os.md
- Installation from pre-built image: icub_operating_systems/other-machines/icub-server-from-image.md
- Installation from scratch: icub_operating_systems/other-machines/icub-server-from-scratch.md
- The iCub Console Server: icub_operating_systems/other-machines/icub-server-laptop.md
- The CUDA workstation: icub_operating_systems/other-machines/cuda-workstation.md
- OS images download: icub_operating_systems/download.md
- iCub Setup startup procedure: icub_operating_systems/startup-procedure.md
- NVIDIA JetPack installation: icub_operating_systems/icubos/jetpack.md
- Post-flashing operations:
- Install CUDA libraries: icub_operating_systems/icubos/install-cuda-libraries.md
- Install librealsense: icub_operating_systems/icubos/install-librealsense.md
- Install jtop: icub_operating_systems/icubos/install-jtop.md
- Install CMake (only for Ubuntu 20.04): icub_operating_systems/icubos/install-cmake.md
- Setup for FRAMOS-IMX415 (only for iCub head v2.10): icub_operating_systems/icubos/setup-framos-imx415.md
- iCub Setup Multiple Robots:
- Summary: icub_setup_multiple_robots/index.md
- How to use two iCub robots in gazebo simulation: icub_setup_multiple_robots/two_robots_simulation.md
- How to use two real iCub robots on the same network: icub_setup_multiple_robots/two_robots_real.md
- iCub Firmware:
- Summary: icub_firmware/index.md
- Firmware Toolchain Documentation:
- Summary: icub_firmware/fw_toolchain/index.md
- Installing Keil: icub_firmware/fw_toolchain/installing_keil.md
- Installing MPLAB: icub_firmware/fw_toolchain/installing_mplab.md
- Firmware Documentation: icub_firmware/firmware/firmware.md
- FirmwareUpdater Walkthrough: icub_firmware/firmwareupdater/firmwareupdater.md
- Associated Firmware: icub_firmware/associated-firmware/associated-firmware.md
- Old Tools:
- CanLoader: icub_firmware/canLoader/canLoader.md
- iCub Microphones:
- How to use microphones: icub_microphones/icub_microphones.md
- Battery Boards:
- Summary: battery_boards/index.md
- BCB Board:
- Bluetooth Protocol: battery_boards/bcb_board/bcb_bluetooth_protocol.md
- BAT Board:
- BAT board: battery_boards/bat_board/bat_board.md
- BMS Board:
- BMS board: battery_boards/bms_board/bms_board.md
- Robot Calibration:
- iCub 2.X Robot Calibration: icub_robot_calibration/icub-robot-calibration-v2.x.md
- iCub 1.3 Robot Calibration: icub_robot_calibration/icub-robot-calibration-v1.3.md
- Stereo Calibration: icub_robot_calibration/icub-stereo-calib.md
- iCub 3 Stator-Rotor auto-calibration: icub_robot_calibration/icub3-stator-rotor-autocalibration.md
- Calibration Types:
- Standard Calibration types: robot_calibration_types/standard_calibration_types.md
- AMO Encoder joint calibration type 10 details: robot_calibration_types/amo_encoder_joint_calibration_10_details.md
- iCub 3 Calibration types: robot_calibration_types/icub3_calibration_types.md
- Robot Configuration:
- Summary: icub_robot_configuration/icub_robot_configuration_index.md
- Structure of robot configuration data set: icub_robot_configuration/structure_robot_configuration_data_set/structure_robot_configuration_data_set.md
- Naming conventions: icub_robot_configuration/naming_convention/naming_convention.md
- Devices configuration: icub_robot_configuration/devices_configuration/devices_configuration.md
- Calibrator configuration: icub_robot_configuration/calibrator_configuration/calibrator_configuration.md
- Robot Testing:
- Encoders and Joint limits (manual): icub_testing/encoders_manual.md
- Configure IP on a setup for ETH boards:
- Configure IP on a setup for ETH boards: configure_static_ip/configure-static-ip.md
- Using iCub or ergoCub with ROS 2: icub-ergocub_ros2/index.md
- iCub Force Control: icub_force_control/icub-force-control.md
- Sensor interfaces:
- Summary: robot_sensors/index.md
- YARP network wrapper servers convention: robot_sensors/yarp_nws_convention.md
- Sensors mounted on iCub 2.7: robot_sensors/icub2.7_sensors.md
- Sensors mounted on iCub 3: robot_sensors/icub3_sensors.md
- Sensors mounted on ergoCub: robot_sensors/ergocub_sensors.md
- Tactile Sensors:
- Summary: tactile_sensors/index.md
- Reading Tactile Data: tactile_sensors/software/reading_data.md
- Visualizing Tactile Data: tactile_sensors/software/visualizing_data.md
- Tactile Data Flow: tactile_sensors/software/dataflow.md
- Motor Temperature Sensors:
- Summary: temperature_sensors/index.md
- Overview of Temperature Sensors: temperature_sensors/general/overview.md
- Motor Temperature Data Flow: temperature_sensors/software/dataflow.md
- Reading Motor Temperature Data: temperature_sensors/software/reading_data.md
- 💡 Tips and Tricks:
- Summary: tips_tricks/index.md
- Setup tmux infinite scroll: tips_tricks/tmux/infinite_scroll.md