URBI control system

Before starting EMYS, you should configure his control system. The main configuration file is called _CONFIG_.u and is located in ubi_scripts catalog (Fig. 1). For more information see Control system configuration in Software section.


edit config

Fig 1. Configuration file (_CONFIG_.u) location.

In the default configuration, three components are configured and ready to use: head (movement of all of robot’s joints), audio (speech synthesis, playing and recording audio files) and video (capturing video from the on-board camera) (Fig. 2).



Fig. 2 View of default robot structure.

To start EMYS, run single.exe or single.bat (edit it if needed)(Fig. 3) from modules catalog; this will launch Urbi engine and load EMYS configuration file along with all  the necessary functions.



Fig. 3 Runtime .bat file.

After loading all files, robot’s motors will start to hold torque. You should see "ROBOT READY :-)" info (Fig. 4). By default, basic set of EMYS competencies is loaded, which can be called via Urbi console.


 robot ready

Fig. 4 URBI engine view.

Run GOSTAI Console (or other telnet type), set connection port settings and connect to the already running engine. Now you can load your commands into the engine (Fig. 5). Call a simple behavior command to get EMYS into vertical position.



Fig. 5
Loading example command to the URBI engie.

You can also check EMYS' video and audio systems. For this purpose load a few simple commands to the URBI engine (see Fig. 6, 7).



Fig 6. Simple video commands.



Fig. 7 Simple audio commands.

Examples competencies can be found in Urbiscript examples in Tutorials section. For moving EMYS' motors always use the appropriate functions; this guarantees smooth trajectories. Do not change joint position directly without a trajectory generator, it may cause damage to robot's motors due to the resulting sudden jerk.




EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.2, 23.11.2017

FLASH Documentation