A simple module that makes use of the cartesian and gaze interfaces to put the iCub in ...

funny postures upon tactile detection.

Description

This module obtains tactile input from the awareTouch module and generates specific robot gestures as response. Optionally, this module can interact with the IOL framework to avoid generating postures while a IOL action is currently being executed.

Libraries

YARP.
cartesian and gaze I/F's.
ctrlLib.

Parameters

–name name

select the module stem-name.

–robot robot

select the robot name to connect to.

–context context

select the module context.

–from file

select the configuration file containing the emotions definitions.

Ports Created

/funnyPostures/emotions/raw to be connected to the robot emotions port to control the emotions.

/funnyPostures/iol/status:rpc to be connected to the IOL status port to know whether any ongoing action is currently being performed.

/funnyPostures/iol/human:rpc to be connected to the IOL input port to enable/disable attention and send speech commands.

/funnyPostured/rpc to be connected to the awareTouch module port to receive currently detected tactile input. Tactile inputs handled by this module are: "caress", "poke", "pinch".

tested_os_sec Tested OS Windows, Linux

Author: Ugo Pattacini