Whole-body Compliant Dynamical Contacts in Cognitive Humanoids

The CoDyCo project is a four-years long project and starts in March 2013. At the end of each year a scenario will be used to validate on the iCub the theoretical advances of the project.

More info at http://codyco.eu/

Code documentation automatically generated: http://wiki.icub.org/codyco/dox/html/index.html

Before installing CoDyCo software it is necessary to install some dependencies:

###Yarp/iCub software You can follow the instructions on: http://wiki.icub.org/wiki/ICub_Software_Installation .

###Eigen You can follow the instructions on: http://eigen.tuxfamily.org . For example, on OS X you can simply use brew to install Eigen:

brew install eigen

while on Debian/Ubuntu you can use apt-get :

sudo apt-get install libeigen3-dev

###kdl It is possible to install Orocos-KDL easily from the local fork of the Orocos Git repository repository (a fork was necessary to avoid problems in compiling KDL in Windows):

git clone https://github.com/traversaro/orocos_kinematics_dynamics
cd orocos_kinematics_dynamics/orocos_kdl
mkdir build 
cd build
ccmake ../
make
sudo make install

Please note that for compiling the plain version of KDL, you have to use the CMakeLists.txt in orocos_kinematics_dynamics/orocos_kdl, while the CMakeLists.txt in orocos_kinematics_dynamics contains ROS-specific commands.

For any further information you can check http://www.orocos.org/kdl .

###kdl_codyco It is possible to install kdl_codyco easily from GitHub.

git clone https://github.com/traversaro/kdl_codyco.git
cd kdl_codyco
mkdir build
cd build
ccmake ../
make
sudo make install