newton.ik.IKPositionObjective#

class newton.ik.IKPositionObjective(link_index, link_offset, target_positions, n_problems, total_residuals, residual_offset, weight=1.0)[source]#

Bases: IKObjective

End-effector positional target for one link.

Parameters:

  • link_index (int) – Body index whose frame defines the end-effector.

  • link_offset (wp.vec3) – Offset from the body frame (local coordinates).

  • target_positions (wp.array(dtype=wp.vec3)) – One target position per problem.

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

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

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

  • weight (float, default 1.0) – Scalar weight multiplying both residual and Jacobian rows.

__init__(link_index, link_offset, target_positions, n_problems, total_residuals, residual_offset, weight=1.0)#
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)#

Precompute lookup tables for analytic jacobian computation.

residual_dim()#
supports_analytic()#