Variables | |
_ | |
a = np.random.rand(model.nv, 1) | |
data = model.createData() | |
mesh_dir = pinocchio_model_dir | |
model | |
model_path = join(pinocchio_model_dir, "example-robot-data/robots") | |
package_dirs | |
pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/") | |
q = pin.randomConfiguration(model) | |
tau = pin.rnea(model, data, q, v, a) | |
string | urdf_filename = "ur5_robot.urdf" |
urdf_model_path = join(join(model_path, "ur_description/urdf/"), urdf_filename) | |
v = np.random.rand(model.nv, 1) | |
|
private |
Definition at line 21 of file inverse-dynamics.py.
inverse-dynamics.a = np.random.rand(model.nv, 1) |
Definition at line 29 of file inverse-dynamics.py.
inverse-dynamics.data = model.createData() |
Definition at line 24 of file inverse-dynamics.py.
inverse-dynamics.mesh_dir = pinocchio_model_dir |
Definition at line 18 of file inverse-dynamics.py.
inverse-dynamics.model |
Definition at line 21 of file inverse-dynamics.py.
inverse-dynamics.model_path = join(pinocchio_model_dir, "example-robot-data/robots") |
Definition at line 17 of file inverse-dynamics.py.
inverse-dynamics.package_dirs |
Definition at line 21 of file inverse-dynamics.py.
inverse-dynamics.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/") |
Definition at line 16 of file inverse-dynamics.py.
inverse-dynamics.q = pin.randomConfiguration(model) |
Definition at line 27 of file inverse-dynamics.py.
Definition at line 32 of file inverse-dynamics.py.
string inverse-dynamics.urdf_filename = "ur5_robot.urdf" |
Definition at line 19 of file inverse-dynamics.py.
inverse-dynamics.urdf_model_path = join(join(model_path, "ur_description/urdf/"), urdf_filename) |
Definition at line 20 of file inverse-dynamics.py.
inverse-dynamics.v = np.random.rand(model.nv, 1) |
Definition at line 28 of file inverse-dynamics.py.