newton.actuators

GPU-accelerated actuator models for physics simulations.

This module provides a modular library of actuator components — drives, clamping, and delay — that compute joint effort from simulation state and control targets. Components are composed into an Actuator instance and registered with add_actuator() during model construction.

Experimental

The actuator API may change without prior notice. Feedback is welcome — please file issues or discussion threads.

Classes

Actuator	Composed actuator: delay → drive → clamping.
ActuatorParsed	Result of parsing a USD actuator prim.
ClampingBase	Base class for actuator output effort clamping.
ClampingDCMotor	DC motor four-quadrant effort-speed saturation.
ClampingMaxEffort	Symmetric clamp on actuator output effort.
ClampingPositionBased	Position-dependent effort clamping via lookup table.
ComponentKind	Classification of actuator component schemas.
Delay	Per-DOF command input delay for actuators.
DriveBase	Base class for actuator drives.
DriveNeuralLSTM	LSTM-based neural network actuator drive.
DriveNeuralMLP	MLP-based neural network actuator drive.
DrivePD	Stateless proportional-derivative actuator drive.
DrivePID	Stateful proportional-integral-derivative actuator drive.
JointSpaceResponse	Effective inverse-mass response for each articulation.
SchemaNames	Canonical USD tokens from newton-usd-schemas

Functions

parse_actuator_prim(prim)	Parse a USD Actuator prim into a composed actuator specification.
register_actuator_component(schema_name, ...)	Register a USD API schema for actuator parsing.

Deprecated

Name	Guidance
Clamping	Deprecated in 1.6; use ClampingBase instead.
Controller	Deprecated in 1.6; use DriveBase instead.
ControllerNeuralLSTM	Deprecated in 1.6; use DriveNeuralLSTM instead.
ControllerNeuralMLP	Deprecated in 1.6; use DriveNeuralMLP instead.
ControllerPD	Deprecated in 1.6; use DrivePD instead.
ControllerPID	Deprecated in 1.6; use DrivePID instead.