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)