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The correct title of this article is reaching. The initial letter is shown capitalized due to technical restrictions.

Author: Lorenzo Natale and Francesco Nori

Reach for a visually identified target.

Module not yet implemented in iCub. Description inspired by an existing module in James.

Back to iCub YARP module specifications

Compiler & Linker Dependencies

Include files



YARP libs
rfwr in ICUB

Run-time Dependencies

Module arguments


Ports accessed

Ports that are assumed to exist prior to instantiation of the module (i.e. some other module must create them)


Ports created

Ports that are instantiated by the module and are then available for other modules to use (using yarp connect)


Input data files

Neural network descriptors:


Output data files


Configuration files


User interface mechanism

Run-time modification of module parameters None

OS on which the module was developed

Windows, Linux

OS on which the module was tested

Windows, Linux

Operating system dependencies


Example instantiation of the module

Run & port connection commands ???

iCub capabilities

iCub capability code

C03 Learn to reach towards a fixation point

Other Yarp modules required to effect this capability


Example instantiation


Back to iCub YARP module specifications