newton.eval_fk#

newton.eval_fk(model, joint_q, joint_qd, state, mask=None, indices=None, body_flag_filter=BodyFlags.ALL)[source]#

Evaluates the model’s forward kinematics given the joint coordinates and updates the state’s body information (State.body_q and State.body_qd).

Parameters:

model (Model) – The model to evaluate.
joint_q (wp.array(dtype=float)) – Generalized joint position coordinates, shape [joint_coord_count], float
joint_qd (wp.array(dtype=float)) – Generalized joint velocity coordinates, shape [joint_dof_count], float
state (State | Model | object) – The state-like target to update (e.g., State or Model).
mask (wp.array(dtype=bool) | None) – The mask to use to enable / disable FK for an articulation. If None then treat all as enabled, shape [articulation_count], bool
indices (wp.array(dtype=int) | None) – Integer indices of articulations to update. If None, updates all articulations. Cannot be used together with mask parameter.
body_flag_filter (int) – Body flag filter controlling which bodies are written to in state.body_q and state.body_qd. Default updates both dynamic and kinematic bodies. Bodies that do not match the filter retain their existing values; they are not zeroed or invalidated.