newton.actuators.ClampingDCMotor#

class newton.actuators.ClampingDCMotor(saturation_effort, velocity_limit, max_motor_effort)[source]#

Bases: ClampingBase

DC motor four-quadrant effort-speed saturation.

Clips drive output using the linear effort-speed characteristic:

effort_max(vel) = min(saturation_effort * (1 - vel / velocity_limit),  max_motor_effort)
effort_min(vel) = max(saturation_effort * (-1 - vel / velocity_limit), -max_motor_effort)

At zero velocity the motor can produce up to ±saturation_effort (capped by max_motor_effort). As velocity approaches velocity_limit, available effort in the direction of motion drops to zero.

evaluate_clamp(value, q, qd, params, i, base)#

Implicit-solve entry point; params row is [saturation, velocity_limit, max_effort].

Inside the implicit solve qd is the predicted end-of-step velocity, so the effort-speed envelope is enforced self-consistently.

classmethod resolve_arguments(args)#
__init__(saturation_effort, velocity_limit, max_motor_effort)#

Initialize DC motor saturation.

Parameters:

  • saturation_effort (wp.array[wp.float32]) – Peak motor effort at stall [N·m or N]. Shape (N,).

  • velocity_limit (wp.array[wp.float32]) – Maximum joint velocity [rad/s or m/s] for the effort-speed curve. Shape (N,).

  • max_motor_effort (wp.array[wp.float32]) – Effort limit for the effort-speed curve [N·m or N]. Shape (N,).

bind_params(block)#
modify_forces(src_forces, dst_forces, positions, velocities, pos_indices, vel_indices, device=None)#
param_width()#
property corner_velocity: wp.array[wp.float32]#

Deprecated. Velocity at which the envelope reaches max_motor_effort.

Deprecated since version 1.6: Kept for compatibility and computed on access from the current parameters. It used to be stored at construction, which went stale when a parameter was retuned, so the clamp now derives it in-kernel and never reads this attribute.