iCub

h1=. Nina beaming revival (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 [[Nina_update|Troubleshooting]]

h2. 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 [[Nina_beaming_stage_2026|stage David Klora]]

h2. Changes in Nina

* PID values for eye tilt ?

* 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)

 - %{background:red}!!! UDP error% if deporting camCalib; fast_tcp should be used ??? different libACE version ?