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--- tutorials:installing_orocos_kdl_in_debian [2016/09/27 16:06] – dgarcia
+++ tutorials:installing_orocos_kdl_in_debian [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
 ====== Installing Orocos KDL in Debian ======
+**WARNING**: This tutorial will soon be deprecated because we are going to migrate to [[tutorials:arcos_kdl|ARCOS-KDL]].
   * Set a xstow environment [[using_xstow_for_local_installations|Using xstow for local installations]]
+  * Orocos-KDL needs **gcc 8** to compile. Please make sure that you have **gcc 8**.
   * Download configure and compile arcoslab version of orocos-kdl:
   cd ~/local/src
-  git clone https://github.com/arcoslab/orocos-kdl.git
+  git clone https://gitlab.com/arcoslab/orocos-kdl.git
   cd orocos-kdl
   make install-python
+====== Interactive ======
+This is a tutorial for running some interactive examples. Do not follow this if you just want to install orocos-kdl.
+If you want to play with kinematic chains and visualize them in real time, do the following:
+  * Install the Humanoid robot Simulator
+  * Checkout examples branch in pyrotivo
+  * Reinstall pyrovito
+  * in a shell execute the yarp server
+  * in another shell execute pyrovito
+  * open another shell:
+<code bash>
+cd local/src/pyrovito/examples
+ipython
+</code>
+once you are in IPython:
+<code python>
+import numpy as np
+import iexample as ix
+import json
+# load the kinematic configurations
+with open("kinematics_conf.json", "r") as conf_file:
+    conf = json.load(conf_file)
+    kuka = conf["kuka"]
+    simple = conf["simple"]
+# start the handler
+handler = ix.InteractiveHandler()
+# Create a tiny box
+box = handler.create_object("box", scale=[0.1, 0.1, 0.1])
+# Create the kuka arm
+arm = handler.create_chain(kuka)
+box.update_twist(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 2.0]))
+</code>