iCub

h1. Nina beaming 2026

Changes in Nina (hardware), in middleware (now YARP3) and in computers (icub-laptop with Ubuntu 22, Mical-008 with Ubuntu 24) makes it mandatory to redevelop the Beaming platform.

Old "cluster" were not compatible anymore (YARP image format has changed, OS libraries and tools updated...)

h2. Changes in Nina

* eyelids min/max and direction

h2. Changes on icub-head

* new PA_yarpmic (stereo, 48kHz)

* new PA_yarphear (mono, 48kHz)

h2. Changes on mical-006

* upgraded to newer yarp (because of the new image format)

* modified/recompiled for YARP 2.3

* new PA_yarpmic (mono, 48kHz)

* new PA_yarphear (stereo, 48kHz)

h2. Changes on mical-008

* localy compiled YARP3 + iCub (from the superbuild procedure)

* compiled support for YARP from python

* now an alias for icub-srv (with /root, not /icub)

* redefined cluster for yarprun

* new app for Bayer cameras

* new versions, compiled:

 - yarp_aruco

 - vrmonitor

 - Start

 - gipsadatadumper (with MJPG video for VideoLogs) + Video

 - Head

 - gaze_thread

h2. Changes on icub-laptop

* recompiled binaries/new versions for the beaming

 - yarp_aruco

 - vrmonitor, Start...

h2. Changes on cluster

* icub-001 and icub-002 are back (with ubuntu 22)

 - same yarp/icub sources, recompiled with superbuild procedure

 - recompiled: aruco and gipsadatadumper (with MJPG video for VideoLogs)

 - !!! UDP error if deporting camCalib; fast_tcp should be used ??? different libACE version ?

h2. Beaming state

* neck and gaze ok

* pilote+robot/subjects audio communication ok

* qualisys video recording ok (2 or 4 cameras)

* fireface audio recording ok (4 channels/8). Also records TTL output from qualisys

* see also [[Nina_beaming_stage_2026|stage David Klora]]