novaphy.BodyFlags¶

Bitmask used by articulation evaluators to select dynamic and / or kinematic bodies.

Values¶

Value	Description
`BodyFlags.DYNAMIC`	Dynamic bodies that participate in simulation dynamics.
`BodyFlags.KINEMATIC`	User-prescribed kinematic bodies.
`BodyFlags.ALL`	Select both dynamic and kinematic bodies.

novaphy.eval_fk(
    model,
    state.joint_q.numpy(),
    state.joint_qd.numpy(),
    state,
    body_flag_filter=novaphy.BodyFlags.ALL,
)