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)))