.. _isaacsim_core_experimental_actuators_ArticulationActuators_1:

.. _isaacsim_core_experimental_actuators_ArticulationActuators:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
.. ================================================================================

:orphan:

.. meta::
    :title: Articulation Actuators
    :keywords: lang-en omnigraph node newtonActuators actuators articulation-actuators


Articulation Actuators
======================

.. <description>

Drives an articulation via Newton actuators parsed from USD. On each execIn pulse: lazily constructs an ArticulationActuators instance for the given robot path, applies any feedforward effort targets, and (when autoStepPrePhysics is false) calls step_actuators with the provided stepDt. When autoStepPrePhysics is true the step is driven automatically by the pre-physics callback and execIn only applies feedforward commands.

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.core.experimental.actuators<ext_isaacsim_core_experimental_actuators>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Auto Step Pre Physics (*inputs:autoStepPrePhysics*)", "``bool``", "When true (default), ArticulationActuators registers a pre-physics callback and steps automatically each tick. When false, step_actuators is called manually on each execIn using stepDt.", "True"
    "Dof Indices (*inputs:dofIndices*)", "``int[]``", "DOF indices to which feedforwardCommand is applied. Empty array applies to all DOFs.", "[]"
    "Exec In (*inputs:execIn*)", "``execution``", "Trigger. No-op for physics stepping when autoStepPrePhysics is true.", "None"
    "Feedforward Command (*inputs:feedforwardCommand*)", "``float[]``", "Per-DOF feedforward effort targets [N or N\u00b7m]. Applied via set_dof_feedforward_effort_targets on every execIn. Empty array skips the call.", "[]"
    "Indices (*inputs:indices*)", "``int[]``", "Articulation instance indices to which feedforwardCommand is applied. Empty array applies to all instances.", "[]"
    "Robot Path (*inputs:robotPath*)", "``string``", "Path to the robot articulation root prim. Changing this value after initialization destroys and recreates the ArticulationActuators instance.", ""
    "Step Dt (*inputs:stepDt*)", "``double``", "Physics timestep in seconds used for manual stepping. Only consumed when autoStepPrePhysics is false.", "0.016667"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "Unique ID", "isaacsim.core.experimental.actuators.ArticulationActuators"
    "Version", "1"
    "Extension", "isaacsim.core.experimental.actuators"
    "Icon", "ogn/icons/isaacsim.core.experimental.actuators.ArticulationActuators.svg"
    "Has State?", "False"
    "Implementation Language", "Python"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "Articulation Actuators"
    "Categories", "newtonActuators"
    "__categoryDescriptions", "newtonActuators,Nodes implementing Newton Actuator functionality"
    "Generated Class Name", "OgnArticulationActuatorsDatabase"
    "Python Module", "isaacsim.core.experimental.actuators"

