newton.actuators.parse_actuator_prim

newton.actuators.parse_actuator_prim(prim, *, allow_unsafe_torch_checkpoints=False)

Parse a USD Actuator prim into a composed actuator specification.

Each detected schema directly maps to a component class with its extracted params. A joint parameter of an input processor (see JOINT_PARAMS) is read from the relationship of the same name, e.g. newton:outputJoint. 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.

  Deprecated since version 1.8: Torch checkpoints are deprecated; export the network to ONNX.

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 or motor schemas applied, - has no drive schema, or - has a NewtonNeuralControlAPI with an unsupported model or an unapproved Torch checkpoint.