# JointMotor

> Talos next · 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. |

## See also

- `JointMotorMode`