What are the parameter units for control_dofs_velocity or control_dofs_position?

[4EverBuilder]

Hi there,

What are the units and parameters here?

https://genesis-world.readthedocs.io/en/latest/user_guide/getting_started/control_your_robot.html

Trying to understand how we move the robot?

What is the values of position in control_dofs_position ? Is it coordinates? angle or what?

or What is the values of velocity in control_dofs_velocity ? is it meters per second?

Would be great if the documentation is updated accordingly.

[duburcqa]

Units are SI. It depends on the type of joint. For linear joints it is m and m.s^-1 for position and velocity respectively. For angular joints, it is rad and rad.s-1.