newton.actuators.parse_actuator_prim#

newton.actuators.parse_actuator_prim(prim, *, allow_unsafe_torch_checkpoints=False)[source]#

Parse a USD Actuator prim into a composed actuator specification.

Each detected schema directly maps to a component class with its extracted params. Returns None if the prim is not a NewtonActuator.

Parameters:

  • prim – USD prim to parse.

  • allow_unsafe_torch_checkpoints (bool) – Allow newton:modelPath to reference a Torch checkpoint. Only use this for trusted USD assets and checkpoints: torch.export.load may execute code during model finalization. Defaults to False.

Raises:

ValueError – If the prim is a NewtonActuator but: - has no authored newton:targets relationship, - the target prim does not exist or is not a PhysicsRevoluteJoint / PhysicsPrismaticJoint, - has multiple drive schemas applied, - has no drive schema, or - has a NewtonNeuralControlAPI with an unsupported model or an unapproved Torch checkpoint.

On this page