Operational Control with iCub

Prerequisites

By now, you should be an expert of the following components 😉:

• Cartesian Control.
• Gaze Control.

Assignment

We want you to develop a rather simple module that employs the Cartesian Interface and the Gaze Interface to accomplish the following tasks:

1. Make iCub look down at the table.
2. Detect the blue ball in both image planes.
3. Retrieve the ball position in the Cartesian domain.
4. Ask iCub to reach for the ball and make it roll.

Notes

• To make the blue ball show up within the simulator, you have to turn on the objects flag in the iCub_parts_activation.ini file.

How to complete the assignment