Public API for module isaacsim.core.experimental.actuators:#
Classes#
class ArticulationActuators
class def from_actuators(cls, paths: str | list[str], actuators: list[tuple[ActuatorConfig, str]]) -> ArticulationActuators
def init(self, paths: str | list[str])
[property] def articulation(self) -> Articulation
[property] def actuators(self) -> list[Actuator]
[property] def actuated_dof_indices(self) -> list[int]
def close(self)
def set_dof_feedforward_effort_targets(self, target_feedforward_efforts: float | list | np.ndarray | wp.array)
def enable_auto_step_pre_physics(self)
def disable_auto_step_pre_physics(self)
def reset(self)
def step_actuators(self, step_dt: float, context: Any = None)
class ActuatorConfig
controller: Controller
clamping: list[Clamping]
delay: Delay | None
class DCMotorClampingConfig
saturation_effort: float
velocity_limit: float
max_motor_effort: float
class DelayConfig
delay_steps: int
class MaxEffortClampingConfig
max_effort: float
class NeuralControlConfig
model_path: str
class PDControlConfig
kp: float
kd: float
const_effort: float
class PIDControlConfig
kp: float
ki: float
kd: float
integral_max: float
const_effort: float
class PositionBasedClampingConfig
lookup_positions: list[float]
lookup_efforts: list[float]
class Extension(omni.ext.IExt)
def on_startup(self, ext_id: str)
def on_shutdown(self)
Functions#
def add_actuator(articulation_root: str | Sdf.Path, target_names: str | list[str], name: str, controller: PDControlConfig | PIDControlConfig | NeuralControlConfig) -> Usd.Prim