A drive's force cap was constant, so a light joint on a saturated servo reached
many times the speed its actuator is rated for and shook grasped objects loose.
maxVelocity gives the motor a torque-speed line: full force at rest, none at the
rated speed, braking past it.

MuJoCo tracks the range per step. Rapier configures a constant motor force only
when a drive changes, so it rejects the option rather than ignoring it.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>