newton.ik.IKSolver

class newton.ik.IKSolver(model, n_problems, objectives, *, optimizer=IKOptimizer.LM, jacobian_mode=IKJacobianMode.AUTODIFF, sampler=IKSampler.NONE, n_seeds=1, noise_std=0.1, rng_seed=12345, lambda_initial=0.1, lambda_factor=2.0, lambda_min=1e-5, lambda_max=1e10, rho_min=1e-3, history_len=10, h0_scale=1.0, line_search_alphas=None, wolfe_c1=1e-4, wolfe_c2=0.9)

Bases: object

Flat IK front-end that handles sampling, optimization, and selection.

__init__(model, n_problems, objectives, *, optimizer=IKOptimizer.LM, jacobian_mode=IKJacobianMode.AUTODIFF, sampler=IKSampler.NONE, n_seeds=1, noise_std=0.1, rng_seed=12345, lambda_initial=0.1, lambda_factor=2.0, lambda_min=1e-5, lambda_max=1e10, rho_min=1e-3, history_len=10, h0_scale=1.0, line_search_alphas=None, wolfe_c1=1e-4, wolfe_c2=0.9)