newton.actuators.ActuatorParsed

class newton.actuators.ActuatorParsed(drive_class=_DEPRECATED_UNSET, drive_kwargs=_DEPRECATED_UNSET, component_specs=None, target_path='', *, controller_class=_DEPRECATED_UNSET, controller_kwargs=_DEPRECATED_UNSET)

Bases: object

Result of parsing a USD actuator prim.

Each detected API schema produces a (class, kwargs) entry. The drive is separated out; everything else goes into component_specs (delay, clamping, etc.).

__init__(drive_class=_DEPRECATED_UNSET, drive_kwargs=_DEPRECATED_UNSET, component_specs=None, target_path='', *, controller_class=_DEPRECATED_UNSET, controller_kwargs=_DEPRECATED_UNSET)

Initialize a parsed actuator specification.

Parameters:

• drive_class (type[DriveBase] | object) – Parsed drive class.

• drive_kwargs (dict[str, Any] | object) – Parsed drive constructor arguments.

• component_specs (list[tuple[type[ClampingBase | Delay], dict[str, Any]]] | None) – Parsed delay and clamping specifications.

• target_path (str) – USD prim path of the driven joint.

• controller_class (type[DriveBase] | object) – Deprecated in Newton 1.6; use drive_class.

• controller_kwargs (dict[str, Any] | object) – Deprecated in Newton 1.6; use drive_kwargs.

component_specs: list[tuple[type[ClampingBase | Delay], dict[str, Any]]]

property controller_class: type[DriveBase]

Deprecated alias for drive_class.

Deprecated since version 1.6: Use drive_class instead.

property controller_kwargs: dict[str, Any]

Deprecated alias for drive_kwargs.

Deprecated since version 1.6: Use drive_kwargs instead.

drive_class: type[DriveBase]

drive_kwargs: dict[str, Any]

target_path: str = ''

Joint target path (USD prim path of the driven joint).