OptionalenabledWhether the motor drives the joint at all. Defaults to true.
Largest torque the motor may apply, in newton-metres. Must be >= 0.
Solver caveat: on the Rapier adapters this is a strength gain, not a hard ceiling — see SolverJointMotor.maxEffort for the recorded deviation and the reasoning.
Target angular rate in radians per second (§7a).
A velocity-driven motor on a revolute joint (§28's example, verbatim field names).
The solver drives the joint's angle towards
targetVelocitywith at mostmaxTorqueof effort. Position motors — a target angle with a stiffness and a damping, which Rapier also offers — are staged (WP-6.1, 2026-08-01): §28's example specifies a velocity motor, and a second motor model that only some solvers implement is worth its own decision.