novaphy.actuators.Actuator

Composed actuator that writes ControllerPD effort into control.joint_f for the configured DOF indices.

Actuator(indices, controller: ControllerPD)

Methods

Method	Description
step(sim_state, sim_control, current_act_state=None, next_act_state=None, dt=None)	Compute effort and write to sim_control.joint_f.

Example

from novaphy import actuators
ctrl = actuators.ControllerPD(kp=[10.0], kd=[0.5])
actuator = actuators.Actuator(indices=[0], controller=ctrl)

actuator.step(state, control)
solver.step(state, state, control, contacts, dt)

See Also

• ControllerPD
• Control