novaphy.ik.JointBodyBundle¶
Python-only (joints, bodies) bridge used by legacy helpers and the
class-style analytic Jacobian path.
The entries must be in parent-before-child order, with one body per joint.
The bridge lazily builds and caches a temporary NovaPhy Model; it does not
reintroduce a C++ Articulation container.
Methods and attributes¶
| Member | Description |
|---|---|
joints, bodies |
Copied Python lists. |
num_links() |
Number of joint/link entries. |
total_q() |
Sum of joint.num_q(). |
total_qd() |
Sum of joint.num_qd(). |
q_start(link) |
Coordinate-vector offset for a link. |
qd_start(link) |
DOF-vector offset for a link. |
The analytic and finite-difference Jacobian implementations in bundle mode
currently populate only Revolute/Prismatic columns. Ball, Free, and D6
columns remain zero, and the high-level optimizers require total_q() ==
total_qd().
Legacy functions also accept an object with joints/bodies attributes or
a plain joint list. Plain lists receive default RigidBody entries.