panda-model allows the offline use of the Model class from libfranka in Python and C++.
Project description
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
Requirements
panda-model requires POCO C++ libraries at runtime, additionally Eigen3 is required to build the project. You can install all necessary requirements on Ubuntu by running:
sudo apt-get install python3-pip build-essential cmake libpoco-dev libeigen3-dev
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
Project details
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