Modules was originally designed for experimenting affordance learning with the iCub here.
It is then adapted to implement the push/pull action with dynamic obstacle avoidance.
Online documentation is available here: http://robotology.github.com/karma.
Tikhanoff, V., Pattacini, U., Natale, L., Metta, G., Exploring affordances and tool use with the iCub, IEEE/RAS International Conference on Humanoid Robots, Atlanta, GA, USA, October 15-17, 2013.
Material included here is Copyright of iCub Facility - Istituto Italiano di Tecnologia and is released under the terms of the GPL v2.0 or later. See the file LICENSE for details.