pinocchio: inverse-kinematics-3d.py File Reference

Variables
int	inverse-kinematics-3d.damp = 1e-12

	inverse-kinematics-3d.data = model.createData()

int	inverse-kinematics-3d.DT = 1e-1

int	inverse-kinematics-3d.eps = 1e-4

	inverse-kinematics-3d.err = iMd.translation

	inverse-kinematics-3d.iMd = data.oMi[JOINT_ID].actInv(oMdes)

int	inverse-kinematics-3d.it = 0

int	inverse-kinematics-3d.IT_MAX = 1000

	inverse-kinematics-3d.J = pinocchio.computeJointJacobian(model, data, q, JOINT_ID)

int	inverse-kinematics-3d.JOINT_ID = 6

	inverse-kinematics-3d.model = pinocchio.buildSampleModelManipulator()

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

	inverse-kinematics-3d.q = pinocchio.neutral(model)

bool	inverse-kinematics-3d.success = True

	inverse-kinematics-3d.v = -J.T.dot(solve(J.dot(J.T) + damp * np.eye(3), err))

Namespaces