MJCFActuator

Fully qualified name: isaacsim::asset::importer::mjcf::MJCFActuator

class MJCFActuator

Actuator component for applying forces/torques to joints.

Represents an actuator that can control joint motion through various control modes including position, velocity, torque, and general control. Contains control limits, force limits, and gain parameters for different control strategies.

Public Types

enum Type

Enumeration of actuator control types.

Values:

enumerator MOTOR

Motor actuator that applies force/torque directly.

enumerator POSITION

Position controller actuator.

enumerator VELOCITY

Velocity controller actuator.

enumerator GENERAL

General purpose actuator with custom control.

enumerator DEFAULT

Default actuator type when not specified.

Public Functions

inline MJCFActuator()

Public Members

Type type

Type of actuator control.

bool ctrllimited

Whether control input is limited to a range.

bool forcelimited

Whether force output is limited to a range.

Vec2 ctrlrange

Control input range [min, max].

Vec2 forcerange = Vec2(-FLT_MAX, FLT_MAX)

Force output range [min, max].

float gear

Gear ratio for force/torque transmission.

std::string joint

Name of the joint this actuator controls.

std::string name

Name identifier for the actuator.

float kp

Proportional gain for position control.

float kv

Derivative gain for velocity control.