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inverse-kinematics.py File Reference

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Namespaces

 inverse-kinematics
 

Variables

int inverse-kinematics.damp = 1e-12
 
 inverse-kinematics.data = model.createData()
 
int inverse-kinematics.DT = 1e-1
 
int inverse-kinematics.eps = 1e-4
 
 inverse-kinematics.err = pinocchio.log(iMd).vector
 
int inverse-kinematics.i = 0
 
 inverse-kinematics.iMd = data.oMi[JOINT_ID].actInv(oMdes)
 
int inverse-kinematics.IT_MAX = 1000
 
 inverse-kinematics.J = pinocchio.computeJointJacobian(model,data,q,JOINT_ID)
 
int inverse-kinematics.JOINT_ID = 6
 
 inverse-kinematics.model = pinocchio.buildSampleModelManipulator()
 
 inverse-kinematics.oMdes = pinocchio.SE3(np.eye(3), np.array([1.0, 0.0, 1.0]))
 
 inverse-kinematics.q = pinocchio.neutral(model)
 
bool inverse-kinematics.success = True
 
 inverse-kinematics.v = - J.T.dot(solve(J.dot(J.T) + damp * np.eye(6), err))
 


pinocchio
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autogenerated on Fri Jun 23 2023 02:38:33