newton.actuators.ActuatorParsed#

class newton.actuators.ActuatorParsed(drive_class, drive_kwargs=<factory>, component_specs=<factory>, target_path='', battery_path=None)[source]#

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 (input processors, clamping, motor, etc.).

__init__(drive_class, drive_kwargs=<factory>, component_specs=<factory>, target_path='', battery_path=None)#

battery_path: str | None = None#: USD prim path of the battery the actuator draws from, or None.

component_specs: list[tuple[type[ClampingBase | InputProcessorBase | MotorDC], dict[str, Any]]]#

controller_class#: Data descriptor that turns a removed attribute into a hard error naming its replacement.

controller_kwargs#: Data descriptor that turns a removed attribute into a hard error naming its replacement.

drive_class: type[DriveBase]#

drive_kwargs: dict[str, Any]#

target_path: str = ''#: Joint target path (USD prim path of the driven joint).