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Units for Command functions (position, velocity, effort)
Posted: Thu Sep 09, 2021 4:52 am
by abdulaleey
The HEBI documentation shows "rad" or "m" as units for position command and "rad/s" or "m/s" for velocity command. The units "m" and "m/s" are confusing me as X series actuators are limited to angular position and angular velocity.
Re: Units for Command functions (position, velocity, effort)
Posted: Thu Sep 09, 2021 6:00 am
by florian_enner
The APIs also support linear stages, so we decided to make the units agnostic. However, you are not the first one to be confused by this, and we are actively thinking about changing the units to rad, rad/s, Nm, and potentially changing "effort" to "torque".