novaphy.JointDrive¶
JointDrive is not part of the current public Python API.
The current drive surface is split across build-time model data and per-step control buffers:
| Where | Use |
|---|---|
| JointDofConfig | Configure actuator_mode, target defaults, stiffness / damping, friction, and effort limits before ModelBuilder.finalize(). |
| Model | Stores finalized arrays such as joint_target_mode, joint_target_ke, and joint_target_kd. |
| Control | Supplies per-step joint_f, joint_target_pos, joint_target_vel, and joint_act. |
Legacy code that constructed novaphy.JointDrive() should move those fields
onto JointDofConfig and write frame-varying targets through Control.