API for offline use of dynamics model #21
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I want to use libfranka with simulation (mujoco) and didn't find anything. Is it possible now? |
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Hi @raphaeldeimel I notice that you do not include the critical file |
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This is a patch to enable use of the dynamics model library without requiring network connection to an active robot.
The use case is when using the Model() object in simulation or for planning / optimization. Right now, the robot needs to be connected to obtain a Model instance. This patch:
Adds a method Robot::downloadModelLibrary(const std::string& toFile) to save the model library locally.
Add a constructor Model(const std::string& pathToLib) to create a Model from a previously saved library file