Nina update » Historique » Version 17
Frederic Elisei, 24/07/2025 15:35
| 1 | 1 | Frederic Elisei | h1. Nina status since update (2025/05) |
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| 2 | |||
| 3 | 8 | Frederic Elisei | h2. Troubleshooting |
| 4 | 1 | Frederic Elisei | |
| 5 | 8 | Frederic Elisei | * jaw controller goes in fault quite often. Then lip corners |
| 6 | 13 | Frederic Elisei | * -lips do not spread- |
| 7 | 8 | Frederic Elisei | * -no hearable sound with yarphear or yarpdev- |
| 8 | * compost crashes if compiled as 'Release'. Some type sizes or non-const char* |
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| 9 | * long waits (motion done detection ?) or stepping moves with NinaPostures |
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| 10 | 14 | Frederic Elisei | * right hand wrist: *hardware fault: * encoder cable was harmed |
| 11 | 13 | Frederic Elisei | * -HTC_Vive VRMonitor runs but says Helmet is not seen by the stations- |
| 12 | 8 | Frederic Elisei | |
| 13 | 9 | Frederic Elisei | h2. CHECKED: recompiled/modified and WORKING |
| 14 | 8 | Frederic Elisei | |
| 15 | 1 | Frederic Elisei | * *SOMBRERO_eyelids* with no PID optimisation |
| 16 | 9 | Frederic Elisei | * new *PA_yarphear* to replace *inaudible yarphear*, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality... |
| 17 | 1 | Frederic Elisei | * *COMPOST* with one less non-const char* bugs in server.cpp Lire() |
| 18 | 9 | Frederic Elisei | * Gaze_thread and *StereoClick --raw* (no camera decal) |
| 19 | 7 | Frederic Elisei | * *vrmonitor* |
| 20 | 2 | Frederic Elisei | * *Start* |
| 21 | 1 | Frederic Elisei | * *furhat_relay* |
| 22 | 12 | Frederic Elisei | * *HTC_Vive* updated and working again |
| 23 | 1 | Frederic Elisei | |
| 24 | h2. To test: modified/recompiled but NOT checked |
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| 25 | |||
| 26 | 8 | Frederic Elisei | * Head |
| 27 | * LowPassFilter |
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| 28 | * NinaPostures (working, but slow...) |
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| 29 | 9 | Frederic Elisei | * Gaze |
| 30 | 15 | Frederic Elisei | * PTT_arm_point_right -(one destination crashed? by capturing/destroying the sensor cable...)- |
| 31 | 10 | Frederic Elisei | * gipsa_dialog |
| 32 | 1 | Frederic Elisei | |
| 33 | h2. To do later/ASAP |
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| 34 | |||
| 35 | * get sound rec from yarpdev for iCub's hears |
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| 36 | * check pointing data/model |
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| 37 | * full Beaming |
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| 38 | 10 | Frederic Elisei | * SDL_yarp_forms |
| 39 | 16 | Frederic Elisei | * new face values/directions for lip/jaw beaming |
| 40 | 10 | Frederic Elisei | * -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear |
| 41 | * -SOMBRERO pointing code from Duc Canh- |
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| 42 | 17 | Frederic Elisei | |
| 43 | h1. Nina status (2025/07/24) since update (2025/05) |
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| 44 | |||
| 45 | h2. Troubleshooting |
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| 46 | |||
| 47 | * jaw controller goes in fault quite often. Then lip corners |
||
| 48 | * -no hearable sound with yarphear or yarpdev- |
||
| 49 | * compost crashes if compiled as 'Release'. Some type sizes or non-const char* |
||
| 50 | * long waits (motion done detection ?) or stepping moves with NinaPostures |
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| 51 | * -YARP::Sound on mical-006 (beaming) is not compatible with that from new YARP (3.x)- |
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| 52 | * -yarp tools from new YARP 3.x does not run on mical-006 (but ok for linking/code)- |
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| 53 | |||
| 54 | h2. CHECKED: recompiled/modified and WORKING |
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| 55 | |||
| 56 | * *SOMBRERO_eyelids* with no PID optimisation |
||
| 57 | * new *PA_yarphear* to replace *inaudible yarphear*, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality... |
||
| 58 | * *COMPOST* with one less non-const char* bugs in server.cpp Lire() |
||
| 59 | * Gaze_thread and *StereoClick --raw* (no camera decal) |
||
| 60 | * *vrmonitor* |
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| 61 | * *Start* |
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| 62 | * *furhat_relay* |
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| 63 | * *Head* for neck*, and *Head* for eyes |
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| 64 | * *LowPassFilter* and *Gaze* |
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| 65 | * new *PA_yarphear* and new *PA_yarpmic* on mical-006 |
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| 66 | * new *beaming* build for mical-006 to drive new Nina neck/gaze |
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| 67 | * having yarp tool from YARP 2.3 on mical-006 while YARP3.11 is installed/running beaming |
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| 68 | |||
| 69 | h2. To test: modified/recompiled but NOT checked |
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| 70 | |||
| 71 | * NinaPostures (working, but slow...) |
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| 72 | * PTT_arm_point_right (one destination crashed ?) |
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| 73 | * gipsa_dialog |
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| 74 | |||
| 75 | h2. To do later/ASAP |
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| 76 | |||
| 77 | * get sound rec from yarpdev for iCub's hears |
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| 78 | * check pointing data/model |
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| 79 | * Head (mouth) for full Beaming |
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| 80 | * SDL_yarp_forms |
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| 81 | * -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear |
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| 82 | * -SOMBRERO pointing code from Duc Canh- |