newton.eval_fk#

newton.eval_fk(model, joint_q, joint_qd, state, mask=None, indices=None)[source]#

Evaluates the model’s forward kinematics given the joint coordinates and updates the state’s body information (State.body_q and State.body_qd).

Parameters:

model (Model) – The model to evaluate.
joint_q (array) – Generalized joint position coordinates, shape [joint_coord_count], float
joint_qd (array) – Generalized joint velocity coordinates, shape [joint_dof_count], float
state (State) – The state to update.
mask (array) – The mask to use to enable / disable FK for an articulation. If None then treat all as enabled, shape [articulation_count], bool
indices (array) – Integer indices of articulations to update. If None, updates all articulations. Cannot be used together with mask parameter.