DcDofProperties

Fully qualified name: omni::isaac::dynamic_control::DcDofProperties

struct DcDofProperties

Properties of a degree-of-freedom.

Contains settings that control the behavior of a degree of freedom

Public Members

DcDofType type = DcDofType::eNone

Type of dof (read-only property)

bool hasLimits = false

Flags whether the DOF has limits. (read-only property)

float lower = 0.0f

lower limit of DOF. In radians or meters (read-only property)

float upper = 0.0f

upper limit of DOF. In radians or meters (read-only property)

DcDriveMode driveMode = DcDriveMode::eAcceleration

Drive mode for the DOF. See DcDriveMode.

float maxVelocity = std::numeric_limits<float>::max()

Maximum velocity of DOF. In Radians/s, or m/s.

float maxEffort = std::numeric_limits<float>::max()

Maximum effort of DOF. in N or Nm.

float stiffness = 0.0f

Stiffness of DOF.

float damping = 0.0f

Damping of DOF.