Go to the source code of this file.
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| | inverse-dynamics._ |
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| | inverse-dynamics.a = np.random.rand(model.nv, 1) |
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| | inverse-dynamics.data = model.createData() |
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| | inverse-dynamics.mesh_dir = pinocchio_model_dir |
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| | inverse-dynamics.model |
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| | inverse-dynamics.model_path = join(pinocchio_model_dir, "example-robot-data/robots") |
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| | inverse-dynamics.package_dirs |
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| | inverse-dynamics.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/") |
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| | inverse-dynamics.q = pin.randomConfiguration(model) |
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| | inverse-dynamics.tau = pin.rnea(model, data, q, v, a) |
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| string | inverse-dynamics.urdf_filename = "ur5_robot.urdf" |
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| | inverse-dynamics.urdf_model_path = join(join(model_path, "ur_description/urdf/"), urdf_filename) |
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| | inverse-dynamics.v = np.random.rand(model.nv, 1) |
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