pinocchio: inverse-kinematics.py File Reference

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))

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