Fix #167, #176 (#296)

docs/icub_operating_systems/icubos/networking.md

@@ -52,20 +52,38 @@ The basic idea is that to setup a [network bonding](https://docs.oracle.com/cd/E
 
 ## Netplan
 
-Latest ubuntu uses [NETPLAN](https://netplan.io/) to configure the network via command line, so I setup netplan to create the above network bonding: netplan uses the configuration files it founds in the path
-```
+Latest Ubuntu makes use of [NETPLAN](https://netplan.io) to configure the network via command line. Therefore, we set up `netplan` to create the above network bonding. `Netplan` relies on the configuration files found in the path:
+
+```console
 /etc/netplan/
 ```
-on startup, netplan load all files in the above path **with the `.yaml` extension**
-this behavior can be used to create several different configurations to choose from.
 
-In icub-head we have many files in the `/etc/netplan` path
+At startup, `netplan` loads all files in the above path with the **`.yaml` extension**.
+
+This behavior can be used to create several configurations to choose from.
+To this end, we stored several files in the `/etc/netplan` path on `icub-head`, as follows:
+
+- `50-icub-static.yaml.notload`: to use **STATIC IP** for cabled network configuration (**no bonding, no wifi** - _THIS IS THE DEFAULT_ ).
+- `50-icub-dhcp.yaml.notload`: to get IP for cabled network configuration from **DHCP server** (**no bonding, no wifi**).
+- `50-icub-bonding-static.yaml.notload`: to **create a bonding** with cabled network and WiFi and use a **static IP** for the bonded connection.
+- `50-icub-bonding-dhcp.yaml.notload`: to **create a bonding** with cabled network and WiFi and get the IP for the bonded connection from **DHCP** server.
+
+To enable one specific configuration, we rely on the following **symbolic link**:
 
-- `50-icub-static.yaml.notload` - a configuration file that uses **STATIC IP** for cabled network configuration (**no bonding, no wifi** - _THIS IS THE DEFAULT_ )
-- `50-icub-dhcp.yaml.notload` - a configuration file that get IP for cabled network configuration from **DHCP server** (**no bonding, no wifi**)
-- `50-icub-bonding-static.yaml.notload` - a configuration that **creates a bonding** with cabled network and WiFi and uses a **static IP** for the bonded connection
-- `50-icub-bonding-dhcp.yaml.notload` - a configuration that **creates a bonding** with cabled network and WiFi and gets the IP for the bonded connection from **DHCP** server
-- `50-icub.yaml` - a symbolic link that points to the active configuration
+- `50-icub.yaml`: pointing to the active configuration (see section below).
+
+### How to switch among `netplan` configurations
+To check what configuration variant is actually symlinked, do:
+```console
+cd /etc/netplan
+ls -la 
+```
+
+To switch among the available `netplan` configurations, it suffices to update the symbolic link:
+```console
+cd /etc/netplan
+sudo ln -fs <variant_that_you_actually_want_to_use>.yaml.notload 50-icub.yaml
+```
 
 # Required configuration
 

docs/icub_versions/index.md

@@ -1,22 +1,23 @@
 ## Currently known iCub versions
 
 | iCub version | Features | Notes | 
-| :--: | :--| :--| 
-| v1.0	| This version was distributed during the RobotCub open call. It has the following features: <p> 1. Only the upper arms are covered. <br> 2. No force sensors available. <br> 3. No touch sensors available. </p> | | 
-| v1.1 |	Main features are: <p> 1. Sensorized hand joints (MAIS boards are mounted on the back of the hand). <br> 2. Six axes force sensors at each limb. This allows impedance/compliance control as described here.<br> 3. Fully covered (upper arm, forearm, torso, hip, legs). | |
-|v1.1.1	| This is an intermediate version. The only difference with the previous is that the main control board has changed from eCAN (or CFW1) to CFW2 | |
-| v1.2 |	This version has tactile sensors. Main features are: <p> 1. Sensorized palm.<br> 2. Sensorized fingertips </p>| |
-| v1.3 |	This version has tactile sensors added on the forearms. | |
-| v1.4 |	This version has tactile sensors added on the upper arm and chest. | |
-| v2.0 |	This version has: <p> 1. Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear). <br> 2. Completely redesigned fore-arm and hands assemblies. <br> Completely redesigned head assembly for higher performances (stronger neck motors, zero-backlash eye movement) <br> 3. Mounts complete set of sensitive skin.
-| v2.3 |	This version is a v2.0 + talking-Head (it's now obsolete, head with motors for lips and jaw) | |
-| v2.5 | This version has: <p>  1. Hands v2.0 <br> 2. Stronger legs (with the possibility to mount series elastic elements on the knee and on the ankle) <br>   | 
-| v2.5.5| This version is a v2.5 + a backpack for batteries | | 
-| v2.6 | v2.5.5 with new face expression (RFE master board) | |
-| v2.7 | v2.6 with high-performance IMU on the waist | |
-| v2.8 | v2.7 with beam-splitter in the eye for hosting event driven and frame based sensors | |
-| v2.9 | **v2.7** with hands mk5 and forearm mk2 | |   
-| v2.10 | **v2.7** with hands mk5, forearm mk2, new 4k basler cameras, nvidia xavier and intel i7 11th on com express type 10 module (UKIT009)  | |   
+| :--:  | :--| :--| 
+| v1.0	 | This version was distributed during the RobotCub open call. It has the following features: <p> 1. Only the upper arms are covered. <br> 2. No force sensors available. <br> 3. No touch sensors available. </p> | | 
+| v1.1   |	Main features are: <p> 1. Sensorized hand joints (MAIS boards are mounted on the back of the hand). <br> 2. Six axes force sensors at each limb. This allows impedance/compliance control as described here.<br> 3. Fully covered (upper arm, forearm, torso, hip, legs). | |
+| v1.1.1 | This is an intermediate version. The only difference with the previous is that the main control board has changed from eCAN (or CFW1) to CFW2 | |
+| v1.2   | This version has tactile sensors. Main features are: <p> 1. Sensorized palm.<br> 2. Sensorized fingertips </p>| |
+| v1.3   | This version has tactile sensors added on the forearms. | |
+| v1.4   | This version has tactile sensors added on the upper arm and chest. | |
+| v1.7   | This version is characterized by a slight difference in the [kinematics of the wrist](../icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md). | |
+| v2.0   | This version has: <p> 1. Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear). <br> 2. Completely redesigned fore-arm and hands assemblies. <br> Completely redesigned head assembly for higher performances (stronger neck motors, zero-backlash eye movement) <br> 3. Mounts complete set of sensitive skin.
+| v2.3   | This version is a v2.0 + talking-Head (it's now obsolete, head with motors for lips and jaw) | |
+| v2.5   | This version has: <p>  1. Hands v2.0 <br> 2. Stronger legs (with the possibility to mount series elastic elements on the knee and on the ankle) <br>   | 
+| v2.5.5 | This version is a v2.5 + a backpack for batteries | | 
+| v2.6   | v2.5.5 with new face expression (RFE master board) | |
+| v2.7   | v2.6 with high-performance IMU on the waist | |
+| v2.8   | v2.7 with beam-splitter in the eye for hosting event driven and frame based sensors | |
+| v2.9   | **v2.7** with hands mk5 and forearm mk2 | |   
+| v2.10  | **v2.7** with hands mk5, forearm mk2, new 4k basler cameras, nvidia xavier and intel i7 11th on com express type 10 module (UKIT009)  | |   
 
 |Special Version |	Features | Notes |
 | :---:| :---| :---|