Python Multi-Middleware Wrapper for Robotics MOM and RPC

Framework for dynamical system identification of floating-base rigid body tree structures

Rapid prototyping of iCub applications using Python

This repository explains how to download and set up the robotic platform YARP and the simulation environment Gazebo on Windows. We also implement a simple image recognition script written in python that works on the video feed produced by iCub.

kinect360ImageEngine3D: Implementation of capture of video sources of the Kinect 360. Obtaining RGB images, depth, depth with color, infrared and distances to them. Emission of video sources through YARP port. Emission of distances to each pixel through YARP.

ttsEngine: Implementation of text to speech module in Python. Reception of text to be synthesized over the network, via YARP. Platform detection in use and TTS engine selection according to it.

humanActivityDetection2D: Implementation of 2D detector of human actions through DNN with OpenCV. Video source reception via YARP, processed video source emission and results, through YARP ports. Implementation of 2D detector of human actions through DNN with OpenCV. Video source reception via YARP, processed video source emission and results, t…

facialAnalysisLiteDetection2D: Detector implementation for the analysis of facial features. Using the cvlib API analysis for gender extraction and prediction. Via OpenCV DNN, age prediction. Through tensorflow, emotion detection. Image source reception via YARP, processing and sending of detections via YARP port.

sentimentAnalysis: Sentiment Analysis implementation with the TextBlob Python API. Receipt of text to be analyzed via YARP and publication of results via YARP port.

Implementation of Heuristic Navigation System in Python. Network source robot/drone controller via YARP. Broadcast of path planning results over the network, via YARP.

wolframAlphaKnowledge: Implementation of module for the acquisition of information and solving of mathematical operations through the Wolfram Alpha API. Request reception through YARP port. Results emission through YARP port.

facialAnalysisDetection2D: Detector implementation for the analysis of facial features. Using the deepFace API, analysis for the extraction and prediction of gender, age, ethnicity and emotions. Image source reception via YARP, processing and sending of detections via YARP port.

wikipediaKnowledge: Module implementation for acquiring Wikipedia information through its Python API. Reception of requests through YARP port. Issuance of results by YARP port.

gpsTracker: Implementation of a GPS tracking system. Receipt of coordinates via YARP. Obtaining and marking of maps via Folium.

googleTranslatorEngine: Translator implementation using the Google Translator API in Python. Reception of text to be translated through YARP port. Translation emission through YARP port.

multipleObjectTracker2D: Implementation of multipurpose tracking module with OpenCV. Support for video source reception via YARP. Publication of processing and coordinates via YARP.

voskSpeechRecognition: Implementation of an offline speech recognition system using the vosk API in Python. Network audio source reception via YARP. Broadcast of voice recognition results over the network. via YARP.

facialRecognitionDetection2D: Implementation of 2D facial recognition detector, Python API, dlib, pre and post-processed video broadcast via YARP. Calculation and emission of detections and coordinates.

tensorflowLiteDetection2D: Classifier detector implementation with Tensorflow Lite 2D, Python API, VGG16, pre and post-processed video broadcast via YARP. Calculation and emission of detections and coordinates.