A study on the computation of the forward kinematics of iCub's arm, to inspect potential issues.
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Move to the project folder, then on a terminal, type
mkdir build && cd build
cmake ..
make && make installRunning the project requires loading the URDF model of iCub 2.0, 2.5, or 2.7, all provided in the repository.
The project can be executed by launching the fkin executable with the following arguments:
- the iCub model:
--model <path_to_urdf_file> - the arm type:
--arm [left|right]_vX.Y - the joints configuration in degrees:
--joints "(0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0)"
For more information, type fkin --help.
Examples can be found in the test.sh script, where various joint configurations for different models of iCub2 are selected.
To use it, run on a terminal ./test.sh <joint_cfg>, where joint_cfg can be either 1, 2, 3, 4.