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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 parameters 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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| If there is an interest in blocking a motor the dof parameter can be used to do that, this can be set through the ini file or dynamically.
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| In the original tutorial the robot was constituted of only one part, in the Vizzy case each arm can be constituted of three parts: arm, shoulder, and torso. In the code a function was added just to simplify the part properties definition the "newPartProperties()", and the three part properties objects were added to the PartDescriptor:
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| PartDescriptor *p=new PartDescriptor;
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| p->lmb=limb; // a pointer to the iKinLimb
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| p->chn=limb->asChain(); // the associated iKinChain object
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| p->cns=NULL; // any further (linear) constraints on the joints other than the bounds? This requires some more effort
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| p->prp.push_back(optTorsoPart);
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| p->prp.push_back(optShoulderPart);
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| p->prp.push_back(optArmPart);
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| p->rvs.push_back(true);
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| p->rvs.push_back(true);
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| p->rvs.push_back(true);
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| p->num=3;
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| ==Server==
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| The server ini file for the Vizzy robot has four extra parameters besides the ones presented in the original tutorial. The 'kinematics_file', 'robot', 'part', and 'local'.
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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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| * robot: indicates the name of the robot (in Vizzy's case 'vizzy').
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| * local: indicates the prefix name for the server port.
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| The ini file also has three [DRIVER_X] groups one per each part of the robot that needs to be controlled. The 'JointsOrder' parameter depends on how the kinematic chain is described in it's ini file.
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| Just as the solver the server differentiates itself from the original because the Vizzy Cartesian Interface needs to control three distinct parts. This parts are added to a Polydriver list, which is attached to a wrapper.
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| PolyDriverList list;
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| list.push(&partDrvTorso,torsoPart.c_str());
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| list.push(&partDrvShoulder,shoulderPart.c_str());
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| list.push(&partDrvArm,armPart.c_str());
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| ==Client==
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| The iCub Cartesian Interface client is also valid for the Vizzy robot[http://eris.liralab.it/iCub/main/dox/html/icub_cartesian_interface.html].
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| ==Issues and important notes==
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| An modified version of the "anyRobotCartesianInterface" tutorial files for the Vizzy robot can be found [[Media:Vizzy_iKin2.tar.gz|here]].
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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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