pattacini / robotology-community-667

Robotology community support files

robotology-community-667

Robotology community support files.

This tiny project allows for reading the iCub arm joints' values from a text file (ordered by rows) to then compute the forward kinematics using iCub::iKin and get the end-effector pose.

• The input text file contains the joints given in degrees and organized by rows.
• Columns can be 10 or 7 depending on whether the torso is used or not.
• The end-effector pose contains 7 numbers comprising the position (in meters) and the orientation expressed in axis-angle notation.

Build the project

The required dependencies include specific releases of yarp, icub-main, and icub-contrib-common. You can retrieve dependencies following the instructions on our main documentation page.

Alternatively, you can rely on a docker image. You may also consider resorting to Gitpod.

cmake -S . -B build
cmake --build build/ --target install

Run the executable

To get the online help, run:

robcom-667 --help