newton.actuators.parse_actuator_prim

newton.actuators.parse_actuator_prim(prim)

Parse a USD Actuator prim into a composed actuator specification.

Each detected schema directly maps to a component class with its extracted params. Returns None if the prim is not a NewtonActuator.

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 controller schemas applied, - has no controller schema, or - has a NewtonNeuralControlAPI with an unsupported model.