simulo.ActuatorGainsConfig

Configuration for an actuator group.

Actuators control groups of joints (e.g., “panda_shoulder” controls joints 1-4). Use this to configure control properties per actuator group.

Attributes:

• stiffness — Position gain (P in PD control). Set to 0 for effort control.
• damping — Velocity gain (D in PD control). Set to 0 for effort control.

@dataclass
class ActuatorGainsConfig

Field	Type	Default	Description
stiffness	float	0.0
damping	float	0.0