search

kjyv / FloBaRoID

Framework for dynamical system identification of floating-base rigid body tree structures
GNU Lesser General Public License v3.0
61 stars 26 forks source link

module 'idyntree.bindings' has no attribute 'DynamicsRegressorGenerator' #15

Closed chouweixin closed 4 months ago

chouweixin commented 4 months ago

I install the Python library with via [conda-forge] using the following command

conda install -c conda-forge idyntree and have replaced import iDynTree; iDynTree.init_helpers(); iDynTree.init_numpy_helpers() with import idyntree.bindings as iDynTree, the python vesrion is 3.6.15, the idyntree vesrion is 4.0.0 11 22

chouweixin commented 4 months ago

I installed the latest version of iDynTree, but this is incompatibility with the need repo.

traversaro commented 4 months ago

Hello @chouweixin, iDynTree mantainer here. The DynamicsRegressorGenerator class was removed in iDynTree 2.0.0 as it was using the IDYNTREE_USES_KDL option, see https://github.com/robotology/idyntree/releases/tag/v2.0.0 . I guess you can obtain similar functionalities by using the idyntree.bindings.ModelLoader class to load the class and the idyntree.bindings.KinDynComputations.inverseDynamicsInertialParametersRegressor to compute the regressor.

See https://github.com/robotology/idyntree/blob/v12.1.0/examples/python/KinDynComputationsTutorial.py#L58 for a related example.

kjyv commented 4 months ago

Hey @chouweixin (and @traversaro!),

Many packages have changed quite a bit since I've worked on this and no one actively maintains this repo. To get it working as is, you might want to start with using the versions that are mentioned in the readme as minimum versions (basically what was current 2018). Sorry that there is no explicit version pinning. Pull requests very welcome!