How to Configure a Linear Joint Drive for a Pneumatic Cylinder in Omniverse, and Is It Possible to Modify the Force Calculation Formula?

Omniverse Archive General Discussion
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I’m trying to set up a Linear Joint Drive for a pneumatic cylinder in Omniverse.
Since it simulates an air cylinder, I want the drive to apply a constant force rather than a spring-damper behavior.

From what I understand, the default force applied by the drive follows this formula:
force = stiffness * (targetPosition - position) + damping * (targetVelocity - velocity)

Is there a way to modify this formula or configure the Joint Drive to behave more like a pneumatic actuator that applies a near-constant force over a range of motion?

Any guidance on how to achieve this behavior in Omniverse would be greatly appreciated.

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This is very similar to your other post. Here is a response from the physics team.

We clamp after evaluating the drive joint force F: PhysX/physx/source/lowleveldynamics/src/DyFeatherstoneArticulation.cpp at main · NVIDIA-Omniverse/PhysX · GitHub

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