panda-model 0.0.3

panda-model allows the offline use of the Model class from libfranka in Python and C++.

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