HW 2 - Operational control with iCub

During this assignment, your task will be to develop a module that employs the Joint Interface, the Cartesian Interface and the Gaze Interface to accomplish specific tasks. You have to modify the provided code to let iCub look at the object, control its fingers to achieve suitable grasp configuration, and ask iCub to grasp and lift the object. More details can be found in hw2.pdf.

Please, submit your solution to the BRUTE. Upload just the file main.cpp. The solution should achieve the maximum score in Smoke test. However, the grading in Smoke test provides only a tentative evaluation. The points will be awarded after manual evaluation and code review (Hint: always check the types of incoming data in the Bottle). Solutions uploaded after the soft deadline will gain only half of the points. Solutions uploaded after the hard deadline will gain no points.