Nina status since update (2025/05)¶

Working: recompiled/modified and checked¶

• SOMBRERO_eyelids with no PID optimisation
• COMPOST with one less non-const char* bugs in server.cpp Lire()
• vrmonitor
• Start
• furhat_relay
• new PA_yarphear to replace inaudible yarphear, transforms 16kHz to 32000 or 48000 to match ALSA capabilities. Unfiltered quality...

Troubleshooting¶

• jaw controller goes in fault quite often
• no hearable sound with yarphear or yarpdev...
• compost crashes if compiled as 'Release'. Some type sizes or non-const char*

To test: modified/recompiled but NOT checked¶

• Head
• LowPassFilter
• NinaPostures (working, but slow...)
• StereoClick
• Gaze and Gaze_thread

To do later/ASAP¶

• have sound working with yarphear or equivalent for iCub's mouth
• get sound rec from yarpdev for iCub's hears
• SOMBRERO pointing code from Duc Canh
• check pointing data/model
• full Beaming