Variables
int	damp = 1

	data = model.createData()

	dMi = oMdes.actInv(data.oMi[JOINT_ID])

int	DT = 1

int	eps = 1

	err = pinocchio.log(dMi).vector

int	i = 0

int	IT_MAX = 1000

	J = pinocchio.computeJointJacobian(model,data,q,JOINT_ID)

int	JOINT_ID = 6

	model = pinocchio.buildSampleModelManipulator()

	oMdes = pinocchio.SE3(np.eye(3), np.array([1., 0., 1.]))

	q = pinocchio.neutral(model)

bool	success = True

	v = -J.T.dot(solve(J.dot(J.T) + damp * np.eye(6), err))

Variable Documentation

int inverse-kinematics.damp = 1

Definition at line 18 of file inverse-kinematics.py.

inverse-kinematics.data = model.createData()

Definition at line 9 of file inverse-kinematics.py.

inverse-kinematics.dMi = oMdes.actInv(data.oMi[JOINT_ID])

Definition at line 23 of file inverse-kinematics.py.

int inverse-kinematics.DT = 1

Definition at line 17 of file inverse-kinematics.py.

int inverse-kinematics.eps = 1

Definition at line 15 of file inverse-kinematics.py.

inverse-kinematics.err = pinocchio.log(dMi).vector

Definition at line 24 of file inverse-kinematics.py.

int inverse-kinematics.i = 0

Definition at line 20 of file inverse-kinematics.py.

int inverse-kinematics.IT_MAX = 1000

Definition at line 16 of file inverse-kinematics.py.

Definition at line 31 of file inverse-kinematics.py.

int inverse-kinematics.JOINT_ID = 6

Definition at line 11 of file inverse-kinematics.py.

inverse-kinematics.model = pinocchio.buildSampleModelManipulator()

Definition at line 8 of file inverse-kinematics.py.

inverse-kinematics.oMdes = pinocchio.SE3(np.eye(3), np.array([1., 0., 1.]))

Definition at line 12 of file inverse-kinematics.py.

inverse-kinematics.q = pinocchio.neutral(model)

Definition at line 14 of file inverse-kinematics.py.

bool inverse-kinematics.success = True

Definition at line 26 of file inverse-kinematics.py.

inverse-kinematics.v = -J.T.dot(solve(J.dot(J.T) + damp * np.eye(6), err))

Definition at line 32 of file inverse-kinematics.py.

Variables