novaphy.ik.IKJointLimitObjective¶
Scaffold — not implemented yet
Planned IKObjective subclass that
penalizes per-DOF joint-limit violations as a soft objective. The
implementation today enforces joint limits by hard box-clipping
q + Δq against joint_limits inside
solve_ik /
solve_ik_pose; the soft-penalty
objective is a placeholder until it ships.