This tutorial will soon be deprecated because we are going to migrate to arcos-kdl.
Orocos-KDL needs at least gcc 8 to compile. Please make sure that you have gcc 8
Install some dependencies:
sudo apt install python-sip python-sip-dev libeigen3-dev python-setuptools python-future
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:
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]))