Nina update » Historique » Version 20
Frederic Elisei, 06/11/2025 14:21
| 1 | 20 | Frederic Elisei | h1. Nina's "10 years" update |
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| 2 | 1 | Frederic Elisei | |
| 3 | 20 | Frederic Elisei | 2024/10/24: Nina was deposited at iCub facility (GB+FE) |
| 4 | 2025/05/15: Nina's delivered back to GIPSA-lab |
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| 5 | 2025/06/04-06: IIT support @ GIPSA-lab (Antonio & Davide) |
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| 6 | 2025/11/03: Nina sent back to IIT |
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| 7 | 19 | Frederic Elisei | |
| 8 | 20 | Frederic Elisei | h2. Troubleshooting since 2025/05 |
| 9 | 1 | Frederic Elisei | |
| 10 | 8 | Frederic Elisei | * jaw controller goes in fault quite often. Then lip corners |
| 11 | 13 | Frederic Elisei | * -lips do not spread- |
| 12 | 8 | Frederic Elisei | * -no hearable sound with yarphear or yarpdev- |
| 13 | * compost crashes if compiled as 'Release'. Some type sizes or non-const char* |
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| 14 | * long waits (motion done detection ?) or stepping moves with NinaPostures |
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| 15 | 13 | Frederic Elisei | * right hand wrist: *hardware fault: * encoder cable was harmed |
| 16 | 1 | Frederic Elisei | * -HTC_Vive VRMonitor runs but says Helmet is not seen by the stations- |
| 17 | 19 | Frederic Elisei | * -trouble with palm sensor/elbow cable- ==> solved by Sylvain |
| 18 | 8 | Frederic Elisei | |
| 19 | 9 | Frederic Elisei | h2. CHECKED: recompiled/modified and WORKING |
| 20 | 8 | Frederic Elisei | |
| 21 | 1 | Frederic Elisei | * *SOMBRERO_eyelids* with no PID optimisation |
| 22 | 9 | Frederic Elisei | * new *PA_yarphear* to replace *inaudible yarphear*, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality... |
| 23 | 1 | Frederic Elisei | * *COMPOST* with one less non-const char* bugs in server.cpp Lire() |
| 24 | 9 | Frederic Elisei | * Gaze_thread and *StereoClick --raw* (no camera decal) |
| 25 | 7 | Frederic Elisei | * *vrmonitor* |
| 26 | 2 | Frederic Elisei | * *Start* |
| 27 | 1 | Frederic Elisei | * *furhat_relay* |
| 28 | 12 | Frederic Elisei | * *HTC_Vive* updated and working again |
| 29 | 1 | Frederic Elisei | |
| 30 | h2. To test: modified/recompiled but NOT checked |
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| 31 | |||
| 32 | 8 | Frederic Elisei | * Head |
| 33 | * LowPassFilter |
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| 34 | * NinaPostures (working, but slow...) |
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| 35 | 9 | Frederic Elisei | * Gaze |
| 36 | 15 | Frederic Elisei | * PTT_arm_point_right -(one destination crashed? by capturing/destroying the sensor cable...)- |
| 37 | 10 | Frederic Elisei | * gipsa_dialog |
| 38 | 1 | Frederic Elisei | |
| 39 | h2. To do later/ASAP |
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| 40 | |||
| 41 | * get sound rec from yarpdev for iCub's hears |
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| 42 | * check pointing data/model |
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| 43 | * full Beaming |
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| 44 | 10 | Frederic Elisei | * SDL_yarp_forms |
| 45 | 16 | Frederic Elisei | * new face values/directions for lip/jaw beaming |
| 46 | 10 | Frederic Elisei | * -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear |
| 47 | * -SOMBRERO pointing code from Duc Canh- |
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| 48 | 17 | Frederic Elisei | |
| 49 | h1. Nina status (2025/07/24) since update (2025/05) |
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| 50 | |||
| 51 | h2. Troubleshooting |
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| 52 | |||
| 53 | * jaw controller goes in fault quite often. Then lip corners |
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| 54 | * -no hearable sound with yarphear or yarpdev- |
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| 55 | * compost crashes if compiled as 'Release'. Some type sizes or non-const char* |
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| 56 | * long waits (motion done detection ?) or stepping moves with NinaPostures |
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| 57 | * -YARP::Sound on mical-006 (beaming) is not compatible with that from new YARP (3.x)- |
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| 58 | * -yarp tools from new YARP 3.x does not run on mical-006 (but ok for linking/code)- |
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| 59 | |||
| 60 | h2. CHECKED: recompiled/modified and WORKING |
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| 61 | |||
| 62 | * *SOMBRERO_eyelids* with no PID optimisation |
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| 63 | * new *PA_yarphear* to replace *inaudible yarphear*, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality... |
||
| 64 | * *COMPOST* with one less non-const char* bugs in server.cpp Lire() |
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| 65 | * Gaze_thread and *StereoClick --raw* (no camera decal) |
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| 66 | * *vrmonitor* |
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| 67 | * *Start* |
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| 68 | * *furhat_relay* |
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| 69 | * *Head* for neck*, and *Head* for eyes |
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| 70 | * *LowPassFilter* and *Gaze* |
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| 71 | * new *PA_yarphear* and new *PA_yarpmic* on mical-006 |
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| 72 | * new *beaming* build for mical-006 to drive new Nina neck/gaze |
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| 73 | * having yarp tool from YARP 2.3 on mical-006 while YARP3.11 is installed/running beaming |
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| 74 | |||
| 75 | h2. To test: modified/recompiled but NOT checked |
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| 76 | |||
| 77 | * NinaPostures (working, but slow...) |
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| 78 | * PTT_arm_point_right (one destination crashed ?) |
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| 79 | * gipsa_dialog |
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| 80 | |||
| 81 | h2. To do later/ASAP |
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| 82 | |||
| 83 | * get sound rec from yarpdev for iCub's hears |
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| 84 | * check pointing data/model |
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| 85 | * Head (mouth) for full Beaming |
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| 86 | * SDL_yarp_forms |
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| 87 | * -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear |
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| 88 | * -SOMBRERO pointing code from Duc Canh- |