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novaphy.eval_jacobian

Return per-articulation COM / world Jacobian matrices, or fill a provided output buffer.

def eval_jacobian(
    model: Model,
    state: SimState,
    J: np.ndarray | None = None,
    joint_S_s: object | None = None,
    mask: np.ndarray | None = None,
) -> np.ndarray | None

joint_S_s is accepted for Newton-shaped call compatibility and is currently ignored by the NovaPhy binding.

mask, when supplied, contains one selection flag per articulation. With J=None, the function returns a float32 array shaped (articulation_count, rows, cols), or None when the model has no articulations. A supplied output must be a writable C-contiguous float32 array with the exact returned shape; the function fills it and returns that array.

Example

J = novaphy.eval_jacobian(model, state)

See Also