DcDriveMode

Fully qualified name: omni::isaac::dynamic_control::DcDriveMode

enum class omni::isaac::dynamic_control::DcDriveMode : int32_t

Drive modes for degrees-of-freedom.

Drive modes for degrees-of-freedom

A DoF that is set on a specific drive mode will ignore drive target commands sent for a different mode. Joint limits, if they exist, will still be enforced.

Values:

enumerator eForce

The output of the implicit spring drive controller is a force/torque.

enumerator eAcceleration

The output of the implicit spring drive controller is a joint acceleration (use this to get (spatial)-inertia-invariant behavior of the drive).