Nina update » Historique » Révision 34
Révision 33 (Frederic Elisei, 03/06/2026 11:53) → Révision 34/35 (Frederic Elisei, 03/06/2026 11:53)
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 * %{background:red}compost crashes% if compiled as 'Release'. Some type sizes or non-const char* * long waits (motion done detection ?) or stepping moves with %{background:red}NinaPostures% * EyeTilt going down might %{background:red}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) * -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 * %{background:red}compost crashes% if compiled as 'Release'. Some type sizes or non-const char* * long waits (motion done detection ?) or stepping moves with %{background:red}NinaPostures% * EyeTilt going down might %{background:red}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) h2. 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 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 * 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-