Variables
inverse-kinematics Namespace Reference

Variables

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

Variable Documentation

◆ damp

int inverse-kinematics.damp = 1e-12

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

◆ data

inverse-kinematics.data = model.createData()

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

◆ DT

int inverse-kinematics.DT = 1e-1

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

◆ eps

int inverse-kinematics.eps = 1e-4

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

◆ err

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

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

◆ i

int inverse-kinematics.i = 0

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

◆ iMd

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

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

◆ IT_MAX

int inverse-kinematics.IT_MAX = 1000

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

◆ J

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

◆ JOINT_ID

int inverse-kinematics.JOINT_ID = 6

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

◆ model

inverse-kinematics.model = pinocchio.buildSampleModelManipulator()

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

◆ oMdes

inverse-kinematics.oMdes = pinocchio.SE3(np.eye(3), np.array([1.0, 0.0, 1.0]))

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

◆ q

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

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

◆ success

bool inverse-kinematics.success = True

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

◆ v

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

Definition at line 33 of file inverse-kinematics.py.



pinocchio
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autogenerated on Fri Jun 23 2023 02:38:34