newton.eval_ik#

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

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

Parameters:

model (Model) – The model to evaluate.
state (State) – The state with the body’s maximal coordinates (positions State.body_q and velocities State.body_qd) to use.
joint_q (array) – Generalized joint position coordinates, shape [joint_coord_count], float
joint_qd (array) – Generalized joint velocity coordinates, shape [joint_dof_count], float
mask (array) – Boolean mask indicating which articulations to update. If None, updates all (or those specified by indices).
indices (array) – Integer indices of articulations to update. If None, updates all articulations.

Note

The mask and indices parameters are mutually exclusive. If both are provided, a ValueError is raised.