pinocchio: inverse-kinematics.py File Reference

Variables
int	inverse-kinematics.damp = 1

	inverse-kinematics.data = model.createData()

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

int	inverse-kinematics.DT = 1

int	inverse-kinematics.eps = 1

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

int	inverse-kinematics.i = 0

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., 1.]))

	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))

Namespaces