carb::gym::GymDofProperties documentation

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?

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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.
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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.

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