iCub

h1=. Nina's "10 years" update

2024/10/24: Nina was deposited at iCub facility (GB+FE)

2025/05/15: Nina's delivered back to GIPSA-lab

2025/06/04: IIT support @ GIPSA-lab, 2,5 days (Antonio & Davide)

2025/11/03: Nina sent back to IIT

2025/12/16: Nina's delivered back to GIPSA-lab

h2. Troubleshooting since 2025/05

* -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-

* -trouble with palm sensor/elbow cable- ==> solved by Sylvain

* EyeTilt going down might collide EyeLids if not down too

h2. 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)

* Head -- for neck and eyes, with linked eyelid position

* LowPassFilter

* *vrmonitor*

* *Start*

* *furhat_relay*

* *HTC_Vive* updated and working again

h2. To test: modified/recompiled but NOT checked

* Head for mouth

* NinaPostures (working, but slow... PID update rate problem?)

* Gaze 

* PTT_arm_point_right -(one destination crashed? by capturing/destroying the sensor cable...)-

* gipsa_dialog

h2. To do later/ASAP

* -get sound rec from yarpdev for iCub's hears-

* check pointing data/model

* Beaming with jaw/lips

* SDL_yarp_forms

* new face values/directions for lip/jaw beaming

* -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear + PA_yarpmic

* -SOMBRERO pointing code from Duc Canh-

h1. Nina status (2025/07/24) since update (2025/05)

h2. 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)-

* neck tilt vibrates when control in PositionDirect mode and slow update rate (35Hz is bad, 100Hz is ok)

h2. 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

h2. To test: modified/recompiled but NOT checked

* NinaPostures (working, but slow...)

* PTT_arm_point_right (one destination crashed ?)

* gipsa_dialog

h2. 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-