iCub¶

Repository for the resources related to the Nina robot :

• Source files that are used on all the iCub related computers
• Source files that are used on some specific iCub related computers
• Documents that help to run a demo, conduct an experiment

Documentation on mical-008:¶

• has CUDA 12.8
• python3.12 is available system-wide
• yarp is available system-wide
• import my_yarp to access local or remote yarp server, from python
• torch '2.6.0+cu126' from /opt/python-env/

• needing conda ? export PATH="/opt/miniforge3/bin:$PATH"

• shared directories :
  • /opt/miniforge3/
  • /localdata/robotology/
  • /opt/python-env/

Please note:

• mical-008 is not in the same VLAN as desktops or gpu3. It's on the Mical VLAN, like Nina and Furhat.
• X: will not be propagated by ssh-interne. Ok inside Mical VLAN though

Mical-008 services¶

To help usages on both robots or witout, remotely, with yarp, witout taking car of the venv or conda environments... Some services are created/runnable from your home directory:

• service_whisper
• service vllm

Mical-008: to do list¶

• DONE: install and testTTS <-- forced to have a python3.10
• DONE: test GPU usage of whisper
• DONE: implement "services", easy to run/terminate, even remotely and with yarpmanager
• DONE: v1 have vLLM run as a YARP service (yarp rpc)
• DONE: find a solution to send local webcam video stream/image to GPU
• DONE: have yolo inference on GPU server, instead of local Windows PC
• train yolo on the new GPU, with bigger card sets and more hand data
• load test, with everything at the same time
• test omni2