Flowchart · compas_fab native backend
How numerical IK solves from one seed
How numerical IK solves from one seed
Numerical IK from one seed: an optional carry stage for prismatic axes, then Levenberg-Marquardt steps on pose, rest-posture and collision residuals until the pose converges without contact, then acceptance by the sphere checker.
NO · λ×10
YES · λ÷3
NO
YES
Seed
yours first, then random
Carry
move only prismatic axes (if any)
Residuals
pose · rest pull · collisions
Levenberg–Marquardt step
clamped to joint limits
Cost lower?
Converged,
no contact?
Accept
sphere check · distinct
Solutions
LEGEND
start / end
step
decision
what the solve minimises