`novaphy.ik.solve_ik`¶

Backwards-compatible position-only IK wrapper around IKSolver with the LM optimizer.

solve_ik(
    art,
    q0,
    target_ee,
    joint_limits=None,
    ee_link_index=-1,
    local_offset=None,
    tol=1e-4,
    max_iter=100,
    lambda_damp=0.01,
    step_size=1.0,
)

Parameter	Description
`art`	`JointBodyBundle`, compatible object, or parent-before-child joint list.
`q0`	Initial generalized positions.
`target_ee`	Desired world position `(3,)`.
`joint_limits`	Optional `(lower, upper)` arrays. Adds a soft objective and a final hard clip.
`ee_link_index`	End-effector link index; `-1` selects the last link.
`local_offset`	Optional `(3,)` end-effector offset in the link frame.
`tol`	Final position-error threshold used to compute `converged`.
`max_iter`	Fixed LM iteration count.
`lambda_damp`	Initial LM damping.
`step_size`	Scale applied to each LM proposal.

Returns (q_solution, converged), with a float32 coordinate vector. The solver always runs max_iter iterations; tol does not trigger an early exit.

This compatibility path supports scalar-coordinate Revolute/Prismatic IK. It does not provide the quaternion retraction needed for Ball/Free/D6 joints.

novaphy.ik.solve_ik¶

See also¶

`novaphy.ik.solve_ik`¶