A very simple module that lets the iCub reproduce on a sheet of paper a drawing given in svg format.

A very simple module that lets the iCub reproduce on a sheet of paper a drawing given in svg format.

Description

By using the actionPrimitives library the iCub can reproduce a drawing given in vectorial form.
Note that only the line and polyline svg commands are recognized.

Libraries

• YARP.
• actionPrimitives.

Parameters

–part part

• select the arm to control.

–drawing drawing

• select the svg file containing the drawing to write.

Ports Created

/iCubWriter/rpc receives the [go] command to start writing.

Tested OS

Windows, Linux

Author

Ugo Pattacini