newton.actuators.ClampingMaxEffort#

class newton.actuators.ClampingMaxEffort(max_effort)[source]#

Symmetric clamp on actuator output effort.

Clamps the actuator output to [-max_effort, +max_effort].

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

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

classmethod resolve_arguments(args)#

__init__(max_effort)#

Initialize max-effort clamp.

Parameters:: max_effort (wp.array[wp.float32]) – Per-actuator effort limits [N or N·m]. Shape (N,).

bind_params(block)#

modify_forces(src_forces, dst_forces, positions, velocities, pos_indices, vel_indices, device=None)#

param_width()#