newton.ik.IKJacobianMode

class newton.ik.IKJacobianMode(value)

Bases: Enum

Specifies the backend used for Jacobian computation in inverse kinematics.

ANALYTIC = 'analytic'

Use analytic Jacobians for objectives that support them.

AUTODIFF = 'autodiff'

Use Warp’s reverse-mode autodiff for every objective.

MIXED = 'mixed'

Use analytic Jacobians where available, otherwise use autodiff.