The Isaac Gym API documentation for Python states that get_actor_dof_properties
returns a named numpy array of carb::gym::GymDofProperties
. However, I cannot find the documentation for this object. Is it available somewhere?
1 Like
Hi @aart.stuurman ,
It looks like we didn’t provide the documentation for this struct. The properties of GymDofProperties are:
hasLimits - Flags whether the DOF has limits.
lower - lower limit of DOF. In radians or meters
upper - upper limit of DOF. In radians or meters
driveMode - Drive mode for the DOF. See GymDofDriveMode.
velocity - Maximum velocity of DOF. In Radians/s, or m/s
effort - Maximum effort of DOF. in N or Nm.
stiffness - DOF stiffness.
damping - DOF damping.
friction - DOF friction coefficient, a generalized friction force is calculated as DOF force multiplied by friction.
armature - DOF armature, a value added to the diagonal of the joint-space inertia matrix. Physically, it corresponds to the rotating part of a motor - which increases the inertia of the joint, even when the rigid bodies connected by the joint can have very little inertia. Larger values could improve simulation stability.
2 Likes
Thank you, this helps. @fuda.van.diggelen also made me aware that there is some documentation available at docs/programming/physics.html
, although yours clears up the units.
This topic was automatically closed 14 days after the last reply. New replies are no longer allowed.