Panda model for dm_robotics.
Project description
Warning: this is a pre-release, API is subject to major changes
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 install libgl1-mesa-glx libosmesa6
Additionally you may need to install glib sudo apt-get install libglib2.0-0
.
Project details
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distribution
Hashes for dm_robotics_panda-0.3.0-py3-none-any.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | d4f12115f238dc9d489aaaf1c4aa1bf31ded36ea4e8036cc71e4c5aa0cd4651f |
|
MD5 | 263759f647422609ffa809dc58eefa7f |
|
BLAKE2b-256 | a9b6b9eae7f2020cef8387f2f94a73df8badf3833de66f3c12c9f1e69fbc3a39 |