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" cannot be used (YARP image format has changed...)

Changes in Nina

• eyelids min/max and direction

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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¶

• changes from conda binary-only YARP to localy compiled YARP + iCub
• now an alias for icub-srv (with /root, not /icub)
• redefined cluster for yarprun
• new app for Bayer cameras
• compiled support for YARP from python
• available remotely from yarprun:
  - yarp_aruco
  - vrmonitor
  - Start
  - gipsadatadumper (with MJPG video)
  - Head
  - gaze_thread

Changes on icub-laptop¶

• recompiled binaries
  - yarp_aruco
  - vrmonitor
  - Start