The error you are getting means that you do not have bluecove.jar on the CLASSPATH. I think there was a problem with version 0.7 of iCommand that bluecove.jar was omitted from the distribution. You may need to copy it from iCommand 0.6 (or from leJOS).
Yes I had already realised that and thus had already copied it acrossed and specified it in my CLASSPATH.
I am having some troubles as well
Going by what you have output there, your icommand.properties file is not specifiying the BT address of your NXT. Figure out what it's address is and include it in your properties file. Mine for example is: -
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I still have no solutions to my problems however