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This Repository contains Python methods to interact via YARP with the iCub and to control objects in the iCub or gazebo simulator. It is organized in "libraries":

  1. gazebo_world_controller.py

    • Methods to control the world port in the gazebo-simulator (e.g. import complex models)

  2. iCubSim_model_groups_control.py

    • Methods to control multi-mesh-models in the iCubSim-simulator

  3. iCubSim_model_groups_definition.py

    • Define the multi-mesh-models with the different meshes and textures

  4. iCubSim_world_controller.py

    • Methods to control the world port in the iCubSim-simulator (e.g. import simple objects)

  5. plot_image_processing.py

    • Methods to plot matrices with OpenCV or Matplotlib

  6. YARP_image_processing.py

    • Image processing in the YARP-Network flow, e.g. prepare numpy arrays for receiving images from the iCub

  7. YARP_motor_control.py

    • Prepare ports and drivers for iCub motor control

  8. YARP_network_control.py

    • establish YARP network connections for the iCub-eyes

  9. iCub_transformation_matrices.py

    • contains numpy matrices for coordinate transformation between simulator and robot reference frames (iCubSim, gazebo, iCub)