Articulation Actuators#
Drives an articulation via Newton actuators parsed from USD. On each execIn pulse: lazily constructs an ArticulationActuators instance for the given robot path, applies any feedforward effort targets, and (when autoStepPrePhysics is false) calls step_actuators with the provided stepDt. When autoStepPrePhysics is true the step is driven automatically by the pre-physics callback and execIn only applies feedforward commands.
Installation#
To use this node enable isaacsim.core.experimental.actuators in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Auto Step Pre Physics (inputs:autoStepPrePhysics) |
|
When true (default), ArticulationActuators registers a pre-physics callback and steps automatically each tick. When false, step_actuators is called manually on each execIn using stepDt. |
True |
Dof Indices (inputs:dofIndices) |
|
DOF indices to which feedforwardCommand is applied. Empty array applies to all DOFs. |
[] |
Exec In (inputs:execIn) |
|
Trigger. No-op for physics stepping when autoStepPrePhysics is true. |
None |
Feedforward Command (inputs:feedforwardCommand) |
|
Per-DOF feedforward effort targets [N or Nu00b7m]. Applied via set_dof_feedforward_effort_targets on every execIn. Empty array skips the call. |
[] |
Indices (inputs:indices) |
|
Articulation instance indices to which feedforwardCommand is applied. Empty array applies to all instances. |
[] |
Robot Path (inputs:robotPath) |
|
Path to the robot articulation root prim. Changing this value after initialization destroys and recreates the ArticulationActuators instance. |
|
Step Dt (inputs:stepDt) |
|
Physics timestep in seconds used for manual stepping. Only consumed when autoStepPrePhysics is false. |
0.016667 |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.core.experimental.actuators.ArticulationActuators |
Version |
1 |
Extension |
isaacsim.core.experimental.actuators |
Icon |
ogn/icons/isaacsim.core.experimental.actuators.ArticulationActuators.svg |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Articulation Actuators |
Categories |
newtonActuators |
__categoryDescriptions |
newtonActuators,Nodes implementing Newton Actuator functionality |
Generated Class Name |
OgnArticulationActuatorsDatabase |
Python Module |
isaacsim.core.experimental.actuators |