novaphy.JointTargetMode¶
Per-DOF joint drive target mode. Static drive modes and gains are stored on the finalized Model; per-step target values live in Control.
| Member | Meaning |
|---|---|
NONE |
Disable the model-side target drive for this DOF. |
POSITION |
Drive toward Control.joint_target_pos using the model's joint_target_ke / joint_target_kd gains. |
VELOCITY |
Drive toward Control.joint_target_vel using the model's damping gain. |
POSITION_VELOCITY |
Use both position and velocity targets. |
EFFORT |
Disable target feedback and use feedforward effort from Control.joint_f. |
Example¶
import novaphy
dof = novaphy.JointDofConfig()
dof.actuator_mode = novaphy.JointTargetMode.POSITION
dof.target_ke = 80.0
dof.target_kd = 4.0
# Pass the DOF config when building the joint, then set per-step targets:
control = model.control()
control.joint_target_pos[0] = 0.5
control.joint_f[0] = tau_feedforward