DcArticulationProperties

Fully qualified name: omni::isaac::dynamic_control::DcArticulationProperties

struct DcArticulationProperties

Properties of an articulation.

Contains settings that control the behavior of an articulation

Public Members

uint32_t solverPositionIterationCount = 32

Number of position iterations for the solver.

uint32_t solverVelocityIterationCount = 1

Number of velocity iterations for the solver.

bool enableSelfCollisions = false

Whether to enable self-collisions within the articulation.