Humanoid Robot Programming

Week 2

Docker - check installations, functionality, etc.
YARP + iCub basics
- Introduction to YARP middleware yarp.pdf
- YARP basics
  - This tutorial shows some of the basic features of YARP, usually required when dealing with a robot.
- How YARP communicates
  - This tutorial helps you understand the behavior of different types of ports.
- 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.
- 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 How YARP communicates

Joint interface
- This tutorial will guide you to the use of Motor Interfaces to control the iCub movements in the joint space.
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.
Gaze control tutorial
- This tutorial will guide you to the use of Gaze Interface component that enables the control of the iCub gaze.