Vizzy Cartesian Interface
Introduction
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 "[1] by Ugo Pattacini.
For the Cartesian Interface to work the iCubInterface (Vizzy adapted version) needs to be running, and the desired arm, shoulders and torso ports open.
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.