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...)
See Troubleshooting ]]

Beaming state (03/06/2026)¶

• 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 stage David Klora

Changes in Nina¶

• eyelids min/max and direction

Changes on icub-head¶

• new PA_yarpmic (stereo, 48kHz)
• new PA_yarphear (mono, 48kHz)

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)

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

Changes on icub-laptop¶

• recompiled binaries/new versions for the beaming
  - yarp_aruco
  - vrmonitor, Start...

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 ?