====== Humanoid Robot Programming ======
  * We will work in the docker environment you prepared in [[courses:hro:tutorials:0dockertutorial|Docker tutorial]].
  * All lab tutorials can be found in our [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs|Gitlab]].

==== Goals ====
  * Become acquainted with Yet Another Robot Platform.
  * Control humanoid robot both in joint and operational space.
===== Week 2 =====
  - **Docker** - check installations, functionality, etc.
  - **YARP + iCub basics**
    * Introduction to YARP middleware {{ :courses:hro:tutorials:yarp.pdf |}}
    * [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab2/tutorial_yarp-basics|YARP basics]]
      * This tutorial shows some of the basic features of YARP, usually required when dealing with a robot. 
    * [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab2/tutorial_yarp-producer-consumer|How YARP communicates]] 
      * This tutorial helps you understand the behavior of different types of ports. 
    * [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab2/tutorial_RFModule-simple|YARP support classes]]
      * This tutorial will show you YARP support classes for handling command line parameters and writing modules that perform periodic activities and respond to network commands.
    * [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab2/tutorial_yarpmanager|yarpmanager]]
      * This tutorial will quickly guide you to use yarpmanager to run Yarp applications. **Write fakeFrameGrabber instead of test_grabber in yarpdev parameters.**
      * Try the same also with [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab2/tutorial_yarp-producer-consumer|How YARP communicates]]
===== Week 3 =====
  - **Robot control**

    * iCub Motor Control {{ :courses:hro:tutorials:motor-control.pdf |}}


    * **[[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab3/tutorial_joint-interface|Joint interface]]**
      * This tutorial will guide you to the use of Motor Interfaces to control the iCub movements in the joint space. 
    * ** [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab3/tutorial_cartesian-interface|Cartesian interface]]**
      * This tutorial will guide you to the use of Cartesian Interface component that enables the control of the iCub arms in the Operational Space.
    * **[[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab4/tutorial_gaze-interface|Gaze control tutorial]]**
      * This tutorial will guide you to the use of Gaze Interface component that enables the control of the iCub gaze.

  * [[courses:hro:tutorials:hw:hw1|HW 1 - iCub motor control]]
===== Week 4 =====
  - [[https://gitlab.fel.cvut.cz/body-schema/teaching/b3m33hro-labs/-/tree/main/lab4/assignment_grasp-it | Grasp_it! assignment]]  
  - HW1 questions
  - [[courses:hro:tutorials:hw:hw2|HW 2 - Operational control with iCub]]