newton.actuators

GPU-accelerated actuator models for physics simulations.

This module provides a modular library of actuator components — controllers, clamping, and 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.

Classes

Actuator	Composed actuator: delay → controller → clamping.
ActuatorParsed	Result of parsing a USD actuator prim.
Clamping	Base class for actuator output effort clamping.
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.
Controller	Base class for actuator control laws.
ControllerNeuralLSTM	LSTM-based neural network controller.
ControllerNeuralMLP	MLP-based neural network controller.
ControllerPD	Stateless PD (Proportional-Derivative) controller.
ControllerPID	Stateful PID (Proportional-Integral-Derivative) controller.
Delay	Per-DOF command input delay for actuators.

Functions

parse_actuator_prim(prim)	Parse a USD Actuator prim into a composed actuator specification.
register_actuator_component(schema_name, ...)	Register a USD API schema for actuator parsing.