Nina update » Historique » Révision 39
Révision 38 (Frederic Elisei, 06/07/2026 18:04) → Révision 39/41 (Frederic Elisei, 06/07/2026 18:07)
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*
* EyeTilt going down might %{background:red}collide with EyeLids% if not down too
* -long waits (motion done detection ?) or stepping moves with NinaPostures-
* -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
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*
* *lookAt*, combined with openCV detectors (ARUCO or face)
On mical-006 (windows):
* %{background:#A0E0A0}new possibility:% using *HTC microphone*
* *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
* Gaze
* PTT_arm_point_right -(one destination crashed? by capturing/destroying the sensor cable...)-
* gipsa_dialog
h2. To do later/ASAP
* check pointing data/model
* Head (mouth) for beaming with jaw/lips
* new face values/directions for lip/jaw beaming
* -SDL_yarp_forms-
* -get sound rec from yarpdev for iCub's hears-
* -have sound working with yarphear or equivalent for iCub's mouth- ==> PA_yarphear + PA_yarpmic
* -SOMBRERO pointing code from Duc Canh-