newton.Control

class newton.Control

Time-varying control data for a Model.

Time-varying control data includes joint torques, control inputs, muscle activations, and activation forces for triangle and tetrahedral elements.

The exact attributes depend on the contents of the model. Control objects should generally be created using the newton.Model.control() function.

Methods

__init__()
clear()	Reset the control inputs to zero.

Attributes

joint_f	Array of generalized joint forces with shape (joint_dof_count,) and type float.
joint_target	Array of joint targets with shape (joint_axis_count,) and type float.
tri_activations	Array of triangle element activations with shape (tri_count,) and type float.
tet_activations	Array of tetrahedral element activations with shape with shape (tet_count,) and type ``float.
muscle_activations	Array of muscle activations with shape (muscle_count,) and type float.

__init__()

joint_f: array | None

Array of generalized joint forces with shape (joint_dof_count,) and type float.

The degrees of freedom for free joints are included in this array and have the same convention as the newton.State.body_f array where the 6D wrench is defined as (t_x, t_y, t_z, f_x, f_y, f_z), where t_x, t_y, and t_z are the components of the torque vector (angular) and f_x, f_y, and f_z are the components of the force vector (linear). Both linear forces and angular torques applied to free joints are applied in world frame (same as newton.State.body_f).

joint_target: array | None

Array of joint targets with shape (joint_axis_count,) and type float. Joint targets define the target position or target velocity for each actuation-driven degree of freedom, depending on the corresponding joint control mode, see newton.Model.joint_axis_mode.

The joint targets are defined for any joint type, except for free joints.

tri_activations: array | None

Array of triangle element activations with shape (tri_count,) and type float.

tet_activations: array | None

Array of tetrahedral element activations with shape with shape (tet_count,) and type ``float.

muscle_activations: array | None

Array of muscle activations with shape (muscle_count,) and type float.

Note

Support for muscle dynamics is not yet implemented.

clear()

Reset the control inputs to zero.