novaphy.eval_ik

Evaluate inverse kinematics from maximal body state into writable flat joint arrays.

def eval_ik(
    model: Model,
    state: SimState,
    joint_q: np.ndarray,
    joint_qd: np.ndarray,
    mask: np.ndarray | None = None,
    indices: np.ndarray | None = None,
    body_flag_filter: BodyFlags | int = BodyFlags.ALL,
) -> None

joint_q and joint_qd must be one-dimensional, writable, C-contiguous float32 arrays. mask and indices are mutually exclusive selectors over articulation indices; body_flag_filter then filters dynamic/kinematic bodies within the selected articulations.

Example

joint_q = state.joint_q.numpy().copy()
joint_qd = state.joint_qd.numpy().copy()
novaphy.eval_ik(model, state, joint_q, joint_qd)

See Also

• eval_fk()
• BodyFlags