Nina update » Historique » Version 22
Frederic Elisei, 03/06/2026 10:29
| 1 | 20 | Frederic Elisei | h1. Nina's "10 years" update |
|---|---|---|---|
| 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 |
||
| 5 | 2025/06/04-06: IIT support @ GIPSA-lab (Antonio & Davide) |
||
| 6 | 2025/11/03: Nina sent back to IIT |
||
| 7 | 19 | Frederic Elisei | |
| 8 | 20 | Frederic Elisei | h2. Troubleshooting since 2025/05 |
| 9 | 1 | Frederic Elisei | |
| 10 | 21 | 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* |
||
| 14 | * long waits (motion done detection ?) or stepping moves with NinaPostures |
||
| 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 | 22 | Frederic Elisei | * Head -- for neck and eyes, with linked eyelid position |
| 26 | * LowPassFilter |
||
| 27 | 7 | Frederic Elisei | * *vrmonitor* |
| 28 | 2 | Frederic Elisei | * *Start* |
| 29 | 1 | Frederic Elisei | * *furhat_relay* |
| 30 | 12 | Frederic Elisei | * *HTC_Vive* updated and working again |
| 31 | 1 | Frederic Elisei | |
| 32 | h2. To test: modified/recompiled but NOT checked |
||
| 33 | 8 | Frederic Elisei | |
| 34 | 22 | Frederic Elisei | * Head for mouth |
| 35 | * NinaPostures (working, but slow... PID update rate problem?) |
||
| 36 | 9 | Frederic Elisei | * Gaze |
| 37 | 15 | Frederic Elisei | * PTT_arm_point_right -(one destination crashed? by capturing/destroying the sensor cable...)- |
| 38 | 1 | Frederic Elisei | * gipsa_dialog |
| 39 | |||
| 40 | h2. To do later/ASAP |
||
| 41 | |||
| 42 | 22 | Frederic Elisei | * -get sound rec from yarpdev for iCub's hears- |
| 43 | 1 | Frederic Elisei | * check pointing data/model |
| 44 | 22 | Frederic Elisei | * Beaming with jaw/lips |
| 45 | 10 | Frederic Elisei | * SDL_yarp_forms |
| 46 | 16 | Frederic Elisei | * new face values/directions for lip/jaw beaming |
| 47 | 22 | Frederic Elisei | * -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear + PA_yarpmic |
| 48 | 10 | Frederic Elisei | * -SOMBRERO pointing code from Duc Canh- |
| 49 | 17 | Frederic Elisei | |
| 50 | h1. Nina status (2025/07/24) since update (2025/05) |
||
| 51 | |||
| 52 | h2. Troubleshooting |
||
| 53 | |||
| 54 | 1 | Frederic Elisei | * jaw controller goes in fault quite often. Then lip corners |
| 55 | 17 | Frederic Elisei | * -no hearable sound with yarphear or yarpdev- |
| 56 | * compost crashes if compiled as 'Release'. Some type sizes or non-const char* |
||
| 57 | * long waits (motion done detection ?) or stepping moves with NinaPostures |
||
| 58 | * -YARP::Sound on mical-006 (beaming) is not compatible with that from new YARP (3.x)- |
||
| 59 | * -yarp tools from new YARP 3.x does not run on mical-006 (but ok for linking/code)- |
||
| 60 | 22 | Frederic Elisei | * neck tilt vibrates when control in PositionDirect mode and slow update rate (35Hz is bad, 100Hz is ok) |
| 61 | 17 | Frederic Elisei | |
| 62 | h2. CHECKED: recompiled/modified and WORKING |
||
| 63 | |||
| 64 | * *SOMBRERO_eyelids* with no PID optimisation |
||
| 65 | * new *PA_yarphear* to replace *inaudible yarphear*, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality... |
||
| 66 | * *COMPOST* with one less non-const char* bugs in server.cpp Lire() |
||
| 67 | * Gaze_thread and *StereoClick --raw* (no camera decal) |
||
| 68 | * *vrmonitor* |
||
| 69 | * *Start* |
||
| 70 | * *furhat_relay* |
||
| 71 | * *Head* for neck*, and *Head* for eyes |
||
| 72 | * *LowPassFilter* and *Gaze* |
||
| 73 | * new *PA_yarphear* and new *PA_yarpmic* on mical-006 |
||
| 74 | * new *beaming* build for mical-006 to drive new Nina neck/gaze |
||
| 75 | * having yarp tool from YARP 2.3 on mical-006 while YARP3.11 is installed/running beaming |
||
| 76 | |||
| 77 | h2. To test: modified/recompiled but NOT checked |
||
| 78 | |||
| 79 | * NinaPostures (working, but slow...) |
||
| 80 | * PTT_arm_point_right (one destination crashed ?) |
||
| 81 | * gipsa_dialog |
||
| 82 | |||
| 83 | h2. To do later/ASAP |
||
| 84 | |||
| 85 | * get sound rec from yarpdev for iCub's hears |
||
| 86 | * check pointing data/model |
||
| 87 | * Head (mouth) for full Beaming |
||
| 88 | * SDL_yarp_forms |
||
| 89 | * -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear |
||
| 90 | * -SOMBRERO pointing code from Duc Canh- |