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| ==Introduction==
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| The Cartesian Interface used with Vizzy to reach a XYZ point using its inverse kinematics is based in the tutorial "Customizing the Cartesian Interface for a Generic Robot"[http://eris.liralab.it/iCub/main/dox/html/icub_anyrobot_cartesian_interface.html] by Ugo Pattacini. Reading Ugo's tutorial is strongly advised.
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| For the Cartesian Interface to work the iCubInterface (Vizzy adapted version) needs to be running, and the desired arm, shoulders and torso ports open.
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| The interface makes use of three distinct modules. A '''solver''' which solves the motors position for a desired XYZ position given a kinematic chain. A '''server''' which controls the motors directly while it tries to confer human like movements to the robot. Finally a '''client''' which calls the server and solver methods through a defined interface.
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| The modules used for the Vizzy robot are based and very similar to the ones available in the tutorial "Customizing the Cartesian Interface for a Generic Robot". The most important differences are in the ini files.
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| ==Solver==
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| The solver ini file for the Vizzy robot has two extra paramaters besides the ones presented in the original tutorial. The 'kinematics_file' and 'part' parameters.
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| * kinematics_file: indicates the path and name of the file with the kinematic chain description.
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| * part: indicates which part of the robot is going to be solved, the right_arm or left_arm part. The selected part does not only affect the part referred but also the respective shoulder and torso.
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| ==Server==
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| ==Client==
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| [[Vizzy|<< Back to Vizzy wiki homepage]]
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| [[Category:Robots]]
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| [[Category:Vislab]]
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