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

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
• 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)
• 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
• compost crashes if compiled as 'Release'. Some type sizes or non-const char*
• long waits (motion done detection ?) or stepping moves with NinaPostures
• EyeTilt going down might collide with EyeLids if not down too
• neck tilt vibrates when controlled in PositionDirect mode and slow update rate (35Hz is bad, 100Hz is ok)

CHECKED: recompiled/modified and WORKING¶

On robot/linux servers:

• 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 Head for eyes (with linked eyelid position)
• LowPassFilter and Gaze
• vrmonitor
• Start + rec option
• furhat_relay

On mical-006 (windows):

• HTC_Vive updated and working again (needs TaskKiller though...)
• 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¶

• 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

To do later/ASAP¶

• get sound rec from yarpdev for iCub's hears
• check pointing data/model
• Head (mouth) for 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