Nina status since update (2025/05)¶

Troubleshooting¶

• jaw controller goes in fault quite often. Then lip corners
• lips do not spread
• 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: * encoder cable was harmed
• HTC_Vive VRMonitor runs but says Helmet is not seen by the stations

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? by capturing/destroying the sensor cable...)
• gipsa_dialog

To do later/ASAP¶

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

Nina status (2025/07/24) 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
• YARP::Sound on mical-006 (beaming) is not compatible with that from new YARP (3.x)
• yarp tools from new YARP 3.x does not run on mical-006 (but ok for linking/code)

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
• Head for neck*, and Head for eyes
• LowPassFilter and Gaze
• new PA_yarphear and new PA_yarpmic on mical-006
• new beaming build for mical-006 to drive new Nina neck/gaze
• having yarp tool from YARP 2.3 on mical-006 while YARP3.11 is installed/running beaming

To test: modified/recompiled but NOT checked¶

• NinaPostures (working, but slow...)
• 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
• Head (mouth) for full Beaming
• SDL_yarp_forms
• have sound working with yarphear or equivalent for iCub's mouth > PA_yarphear
• SOMBRERO pointing code from Duc Canh