newton.sim.eval_ik#

newton.sim.eval_ik(model, state, joint_q, joint_qd)[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