novaphy.solvers.JointSupportMatrix¶
Per-solver capability table returned by solver.joint_support(). Fields are
booleans describing which joint types and joint properties the bound solver
honors.
Joint-Type Fields¶
prismatic, revolute, ball, fixed, free, distance, d6, cable
Joint-Property Fields¶
joint_enabled, joint_armature, joint_friction, joint_limit,
joint_limit_spring, joint_effort_limit, joint_velocity_limit,
joint_target_spring, joint_target_mode, feedforward_force,
equality_constraints, mimic_constraints
Example¶
support = solver.joint_support()
if support.revolute and support.joint_limit:
print("revolute limits are enforced")