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novaphy.eval_fk

Newton-aligned forward kinematics over a Model and SimState. Updates the state's body transforms and velocities from the joint coordinates and joint velocities currently stored on the state.

def eval_fk(model: Model, state: SimState) -> None

Example

import novaphy

novaphy.eval_fk(model, state)
# state.body_q / state.body_qd are now consistent with state.joint_q / joint_qd.

Compatibility Notes

Newton's signature is eval_fk(model, joint_q, joint_qd, state, articulation_indices=None) — explicitly takes the generalized coordinate arrays. NovaPhy's signature sources them from the passed-in SimState. This may evolve toward Newton parity in a future release.

See Also