inverse-dynamics Namespace Reference

Variables
	_
	a = np.random.rand(model.nv, 1)
	data = model.createData()
	mesh_dir = pinocchio_model_dir
	model
	model_path = join(pinocchio_model_dir, "example-robot-data/robots")
	package_dirs
	pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/")
	q = pin.randomConfiguration(model)
	tau = pin.rnea(model, data, q, v, a)
string	urdf_filename = "ur5_robot.urdf"
	urdf_model_path = join(join(model_path, "ur_description/urdf/"), urdf_filename)
	v = np.random.rand(model.nv, 1)

Variable Documentation

_

inverse-dynamics._

private

Definition at line 21 of file inverse-dynamics.py.

a

inverse-dynamics.a = np.random.rand(model.nv, 1)

Definition at line 29 of file inverse-dynamics.py.

data

inverse-dynamics.data = model.createData()

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

mesh_dir

inverse-dynamics.mesh_dir = pinocchio_model_dir

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

model

inverse-dynamics.model

Definition at line 21 of file inverse-dynamics.py.

model_path

inverse-dynamics.model_path = join(pinocchio_model_dir, "example-robot-data/robots")

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

package_dirs

inverse-dynamics.package_dirs

Definition at line 21 of file inverse-dynamics.py.

pinocchio_model_dir

inverse-dynamics.pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models/")

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

q

inverse-dynamics.q = pin.randomConfiguration(model)

Definition at line 27 of file inverse-dynamics.py.

tau

inverse-dynamics.tau = pin.rnea(model, data, q, v, a)

Definition at line 32 of file inverse-dynamics.py.

urdf_filename

string inverse-dynamics.urdf_filename = "ur5_robot.urdf"

Definition at line 19 of file inverse-dynamics.py.

urdf_model_path

inverse-dynamics.urdf_model_path = join(join(model_path, "ur_description/urdf/"), urdf_filename)

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

v

inverse-dynamics.v = np.random.rand(model.nv, 1)

Definition at line 28 of file inverse-dynamics.py.