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novaphy.ik.IKObjectivePosition

Three-row objective that matches the world position of a point on a link.

IKObjectivePosition(
    link_index,
    link_offset,
    target_positions,
    weight=1.0,
)
Parameter Description
link_index End-effector body/link index; negative indices are supported.
link_offset Local-frame (3,) offset from the body origin.
target_positions (n_problems, 3) target array.
weight Scalar applied to residual and Jacobian rows.

set_target_position(problem_idx, new_position) updates one problem; set_target_positions(new_positions) replaces the complete target array. residual_dim() returns 3.

See also