Levenberg-Marquardt damping. Default 1e-6 for argminNum
(Jacobian is always well-conditioned for linear constraints) and
1e-3 for argminVec (IK chains hit rank-deficient regimes at
full extension). Larger → smaller, more stable updates; smaller
→ closer to pure pseudoinverse.
Optionaleps
eps?:number
Finite-difference epsilon for the Jacobian. Default 1e-4.
Levenberg-Marquardt damping. Default
1e-6forargminNum(Jacobian is always well-conditioned for linear constraints) and1e-3forargminVec(IK chains hit rank-deficient regimes at full extension). Larger → smaller, more stable updates; smaller → closer to pure pseudoinverse.