WARNING: This tutorial will soon be deprecated because we are going to migrate to ARCOS-KDL.

• Set a xstow environment 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

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:

cd local/src/pyrovito/examples
ipython

once you are in IPython:

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]))