Skip to content

novaphy.ik.IKObjectiveJointLimit

Soft hinge penalty for per-coordinate joint-limit violations.

IKObjectiveJointLimit(
    joint_limit_lower,
    joint_limit_upper,
    weight=0.1,
)

The lower and upper arrays must have the same shape. The objective contributes one residual per array entry and uses an analytic diagonal Jacobian. Non-finite bounds and ranges wider than 9.9e5 are treated as unlimited.

This is a soft objective; it does not hard-clamp IKSolver updates.

See also