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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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Doc: dtheta unit should be \frac{rad}{s} #114

Open peetCreative opened 2 years ago

peetCreative commented 2 years ago

TLDR: Motor velocity (dtheta) should be documented in [1] as \frac{rad}{s}.

Hey, while investigating the difference between motor position (theta) and joint position (q) I found that motor velocity (dtheta) unit was documented as rad but it supposed to be \frac{rad}{s} as it is the derivative. How ever what's the difference to joint position/velocity? How do they correspond? What do I need them for?

[1] https://github.com/frankaemika/libfranka/blob/f1f46fb008a37eb0d1dba00c971ff7e5a7bfbfd3/include/franka/robot_state.h#L335

rtkg commented 1 year ago

Hi, I'd also be interested in understanding the connection between motor/joint positions and velocities - did you get any update on this elsewhere by chance?