UrdfJointDrive#
Fully qualified name: isaacsim::asset::importer::urdf::UrdfJointDrive
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struct UrdfJointDrive#
Joint drive configuration for actuated joints.
Defines the control parameters for joint actuation including target values, control gains, and drive characteristics. Used for position and velocity control of joints in simulation.
Public Members
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float target = 0.0#
Target value for joint control (position or velocity).
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float strength = 0.0f#
Control strength/gain for the joint drive.
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float damping = 0.0f#
Damping coefficient for the joint drive.
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UrdfJointTargetType targetType = UrdfJointTargetType::POSITION#
Type of target control (position or velocity).
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UrdfJointDriveType driveType = UrdfJointDriveType::ACCELERATION#
Type of drive actuation (acceleration or force).
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float naturalFrequency = 25.0f#
Natural frequency for control system tuning.
Default is 25Hz for stable simulation at 60Hz timestep.
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float dampingRatio = 0.005f#
Damping ratio for control system tuning.
Low damping allows oscillation but ensures settling.
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float target = 0.0#