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====== 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://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>