newton.ik.IKJointLimitObjective#

class newton.ik.IKJointLimitObjective(joint_limit_lower, joint_limit_upper, n_problems, total_residuals, residual_offset, weight=0.1)[source]#

Bases: IKObjective

Joint limit constraint objective.

Parameters:

  • joint_limit_lower (wp.array(dtype=float)) – Lower bounds for each joint dof

  • joint_limit_upper (wp.array(dtype=float)) – Upper bounds for each joint dof

  • n_problems (int, optional) – Number of parallel IK problems.

  • total_residuals (int, optional) – Global residual vector length (for autodiff bookkeeping).

  • residual_offset (int, optional) – Starting index of this objective inside the residual vector.

  • weight (float, default 0.1) – Scalar weight for limit violation penalty.

__init__(joint_limit_lower, joint_limit_upper, n_problems, total_residuals, residual_offset, weight=0.1)#
compute_jacobian_analytic(body_q, joint_q, model, jacobian, joint_S_s, start_idx)#
compute_jacobian_autodiff(tape, model, jacobian, start_idx, dq_dof)#
compute_residuals(body_q, joint_q, model, residuals, start_idx)#
init_buffers(model, jacobian_mode)#
residual_dim()#
supports_analytic()#