Nina status since update (2025/05)¶

Troubleshooting¶

• jaw controller goes in fault quite often. Then lip corners
• no hearable sound with yarphear or yarpdev
• compost crashes if compiled as 'Release'. Some type sizes or non-const char*
• long waits (motion done detection ?) or stepping moves with NinaPostures
• right hand wrist: hardware fault (probably encoder)

CHECKED: recompiled/modified and WORKING¶

• SOMBRERO_eyelids with no PID optimisation
• new PA_yarphear to replace inaudible yarphear, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality...
• COMPOST with one less non-const char* bugs in server.cpp Lire()
• Gaze_thread and StereoClick --raw (no camera decal)
• vrmonitor
• Start
• furhat_relay
• HTC_Vive updated and working again

To test: modified/recompiled but NOT checked¶

• Head
• LowPassFilter
• NinaPostures (working, but slow...)
• Gaze
• PTT_arm_point_right (one destination crashed ?)
• gipsa_dialog

To do later/ASAP¶

• get sound rec from yarpdev for iCub's hears
• check pointing data/model
• full Beaming
• SDL_yarp_forms
• have sound working with yarphear or equivalent for iCub's mouth ==> PA_yarphear
• SOMBRERO pointing code from Duc Canh