novaphy.ik.compute_jacobian_position¶

Finite-difference position Jacobian of an end-effector point with respect to the joint coordinates.

def compute_jacobian_position(
    art,
    q,
    ee_link_index: int = -1,
    local_offset=None,
    eps: float = 1e-6,
) -> np.ndarray

Parameters¶

Parameter	Description
`art`	JointBodyBundle or compatible.
`q`	Generalized positions, length `art.total_q()`.
`ee_link_index`	End-effector link index (`-1` = last link).
`local_offset`	Optional 3D offset of the end-effector point in the link frame.
`eps`	Finite-difference step.

(3, nv) Jacobian, where nv = art.total_qd().

Supports Revolute and Slide (prismatic) DOFs. For pose IK, stack with compute_jacobian_angular_velocity() to form the (6, nv) body Jacobian.