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 15 of file inverse-kinematics.py.

◆ data

inverse-kinematics.data = model.createData()

Definition at line 6 of file inverse-kinematics.py.

◆ DT

int inverse-kinematics.DT = 1e-1

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

◆ eps

int inverse-kinematics.eps = 1e-4

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

◆ err

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

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

◆ i

int inverse-kinematics.i = 0

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

◆ iMd

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

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

◆ IT_MAX

int inverse-kinematics.IT_MAX = 1000

Definition at line 13 of file inverse-kinematics.py.

◆ J

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

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

◆ JOINT_ID

int inverse-kinematics.JOINT_ID = 6

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

◆ model

inverse-kinematics.model = pinocchio.buildSampleModelManipulator()

Definition at line 5 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 9 of file inverse-kinematics.py.

◆ q

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

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

◆ success

bool inverse-kinematics.success = True

Definition at line 23 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 30 of file inverse-kinematics.py.

Variables