A Python package for physically consistent inertial parameters identification of legged robots using joint torque measurements.
numpy, cvxpy, yaml, trimesh, pinocchio, urdf_parser_py, MOSEK solver.
pip install numpy
pip install cvxpy
pip install pyyaml
pip install trimesh
pip install pin
pip install urdf_parser_py
pip install Mosek
You also need to add a license for MOSEK in order to use the solver.