dm-robotics-panda 0.2.5

Model and Tools for the Panda Robot in dm_robotics

This package includes a model of the Panda robot for dm_robotics, tools to build simulation environments suited for reinforcement learning, and allows you to run these simulations with real hardware in the loop.

Install

The recommended way of installing is using PyPI:

pip install dm-robotics-panda

Alternatively, you can install this package from source by executing

pip install .

in the repository's root directory.

Requirements

Hardware-in-the-loop operation requires panda-py to control the robot. However, the version automatically installed from PyPI may not be compatible with your robot if you use an older firmware or use the new Franka Research 3. In that case refer to the panda-py instructions on what version to install and where to find it.

For visualization, additional libraries are required, depending on whether hardware acceleration and/or headless mode is required. On Ubuntu 22.04 you can install the respective requirements by running

• Hardware accelerated rendering in windowed mode sudo apt-get install libglfw3 libglew2.2
• Headless hardware acceleration with recent NVIDIA driver sudo apt-get install libglew2.2
• Software rendering sudo apt-get libgl1-mesa-glx libosmesa6

Additionally you may need to install glib sudo apt-get libglib2.0-0.