Schemas / Simulation
rig.sim.actuator
v1.0.0 · stable maturity: draft 7 fields 1 required
Fields
| Field | Type | Meaning | |
|---|---|---|---|
joint |
entity | required | rig.sim.joint this drive commands |
mode |
enumposition · velocity · effort | optional | Optional. position, velocity, effort. Absent = position |
effort |
number> 0 | optional | Optional. Maximum effort. Torque on a hinge, force on a slider or distance joint. Absent = unlimited |
maxSpeed |
number> 0 | optional | Optional. Hinge: degrees per second. Slider and distance: scene units per second. Absent = unlimited |
stiffness |
number0 – * | optional | Optional. Position-drive stiffness. Absent = host default |
damping |
number0 – * | optional | Optional. Drive damping. Absent = host default |
target |
float | optional | Optional. Command at load. Hinge: degrees. Slider and distance: scene units. Absent = hold the joint's current position |
Drive on one joint. Format when present.
Meaningful for hinge, slider, and distance. A fixed joint has no drive. A ball has no single target; pose the child. A host that cannot represent a mode skips that actuator.
target is the command when the document is loaded. A series of commands is rig.anim.track on target. The solver stays in the host.
JSON Schema
Resolves at https://rig.works/schemas/rig.sim.actuator.schema.json —
raw file.
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://rig.works/schemas/rig.sim.actuator.schema.json",
"title": "rig.sim.actuator",
"type": "object",
"additionalProperties": false,
"properties": {
"joint": {
"$ref": "./_defs.schema.json#/$defs/entity"
},
"mode": {
"type": "string",
"enum": [
"position",
"velocity",
"effort"
]
},
"effort": {
"type": "number",
"exclusiveMinimum": 0
},
"maxSpeed": {
"type": "number",
"exclusiveMinimum": 0
},
"stiffness": {
"type": "number",
"minimum": 0
},
"damping": {
"type": "number",
"minimum": 0
},
"target": {
"$ref": "./_defs.schema.json#/$defs/float"
}
},
"required": [
"joint"
],
"x-rig-maturity": "draft"
}