newton.actuators#

GPU-accelerated actuator models for physics simulations.

This module provides a modular library of actuator components — drives, clamping, motors, and input processors such as delay — that compute joint effort from simulation state and control targets. Components are composed into an Actuator instance and registered with add_actuator() during model construction.

Experimental

The actuator API may change without prior notice. Feedback is welcome — please file issues or discussion threads.

Classes

`Actuator`	Composed actuator: input processors → drive → clamping → motor.
`ActuatorParsed`	Result of parsing a USD actuator prim.
`BatteryBase`	Base class for actuator batteries.
`BatteryConstantResistance`	Battery from BAM (Better Actuator Models): an ideal voltage source behind a constant internal resistance.
`BatteryParsed`	Result of parsing a USD battery prim.
`ClampingBase`	Base class for actuator output effort clamping.
`ClampingCurrentDuty`	Limit signed duty using a DC-motor current estimate, then `max_duty`.
`ClampingDCMotor`	DC motor four-quadrant effort-speed saturation.
`ClampingMaxEffort`	Symmetric clamp on actuator output effort.
`ClampingPositionBased`	Position-dependent effort clamping via lookup table.
`ComponentKind`	Classification of actuator component schemas.
`DriveBase`	Base class for actuator drives.
`DriveNeuralGRU`	Stateful gated recurrent unit (GRU) actuator drive using Warp-NN.
`DriveNeuralLSTM`	LSTM-based neural network actuator drive.
`DriveNeuralMLP`	MLP-based neural network actuator drive.
`DriveOutputSpace`	Physical interpretation of a drive output or clamping input.
`DrivePD`	Stateless proportional-derivative actuator drive.
`DrivePID`	Stateful proportional-integral-derivative actuator drive.
`InputProcessorBase`	Base class for actuator input processors.
`InputProcessorDelay`	Per-DOF command input delay for actuators.
`InputProcessorEncoder`	Position encoder of the actuator.
`JointSpaceResponse`	Effective inverse-mass response for each articulation.
`MotorDC`	DC motor driven by an average terminal voltage, as in BAM (Better Actuator Models).
`SchemaNames`	Canonical USD tokens from `newton-usd-schemas`

Functions

`parse_actuator_prim`(prim, *[, ...])	Parse a USD Actuator prim into a composed actuator specification.
`parse_battery_prim`(prim)	Parse a USD battery prim into a battery class and its parameters.
`register_actuator_component`(schema_name, ...)	Register a USD API schema for actuator parsing.

Deprecated

Name	Guidance
`Delay`	Deprecated in 1.9; use InputProcessorDelay instead.