newton.actuators.ClampingMaxEffort#

class newton.actuators.ClampingMaxEffort(max_effort)[source]#

Bases: Clamping

Symmetric clamp on actuator output effort.

Clamps the actuator output to [-max_effort, +max_effort].

classmethod resolve_arguments(args)#
__init__(max_effort)#

Initialize max-effort clamp.

Parameters:

max_effort (wp.array(dtype=wp.float32, ndim=1)) – Per-actuator effort limits [N or N·m]. Shape (N,).

modify_forces(src_forces, dst_forces, positions, velocities, pos_indices, vel_indices, device=None)#