JointMotor
Since 0.6
Fields
| Field | Type | Required | Default | Allowed values | Description |
|---|---|---|---|---|---|
mode | JointMotorMode | yes | velocity, position | ||
target | number | yes | velocity: rad/s for a revolute joint, m/s for a prismatic one. position: radians or metres from where the joint was made (its rest pose is 0). | ||
maxForce | number | yes | The most the motor can push: N·m for a revolute joint, N for a prismatic one. 0 or more. | ||
stiffness | number | no | Pull towards a position target, per radian or metre of error (acceleration-based, 1/s²). Default 100 for position, 0 for velocity. 0 or more. | ||
damping | number | no | Pull towards the target speed (acceleration-based, 1/s): what makes a velocity motor track. Default 20 for position, 50 for velocity. 0 or more. |