Python 3 wrapper for Panda's dynamics model.
4 functions:
[7x7] <- get_coriolis_matrix(q [7x1], dq [7x1])[7x1] <- get_friction_torques(dq [7x1])[7x1] <- get_gravity_vector(q [7x1])[7x7] <- get_mass_matrix(q [7x1])
Install Eigen3: sudo apt install libeigen3-dev
sudo cp -r /usr/include/eigen3/Eigen /usr/include
Install pybind: pip install pybind11
Install the wrapper: git clone [email protected]:HIRO-group/panda-dynamics-model.git && pip install panda-dynamics-model
Example:
import numpy as np
import panda_dynamics_model as pdm
print(pdm.get_friction_torques(np.random.uniform(size=7)))