Yarp do it approximately correctly on all of that. Yes some incoherence exist, but it is really impressive. The missing side is more what V-REP seems to offer the way to modify "directly" part of the bot and software of the bot. (which is a bit more "tricky" with Icub)
Not only, but interaction with all the things around it. As Pierre-Yves Oudeyer qualify the "robot curiosity" (that is part of cobot (fr: cobotique).