panda-model

panda-model allows the offline use of the Model class from libfranka without a connection to the master control unit. To do this, a shared library needs to be downloaded from an FCI enabled Franka Emika master control unit using the included tools.

To get startet install panda-model as described below and check out the documentation as well as the examples.

Installation

Using pip

pip install panda_model

From Source

Python

Clone the repository and install the package using pip by executing the following from the root directory:

pip install .

This will install the command line script panda-model-download as well as Python bindings for the modified Model class.

C++

To use the model in C++ you can build the necessary library by running:

mkdir build && cd build
cmake .. -DBUILD_CPP=ON
cmake --build .

You can then install the library using sudo make install or by building a deb package:

cpack -G DEB
sudo dpkg -i panda_model*.deb

Requirements

Building from source requires POCO C++ libraries and Eigen3. You can install the necessary requirements on Ubuntu by running:

sudo apt-get install libpoco-dev libeigen3-dev