Joint Velocity property is wrong

[tkevinbest]

🐛 Bug Report

The joint velocity property has the wrong units and the wrong direction for using Dephy's joint encoder. Dephy reports the units in deg/sec*10 and we're assuming it is in counts/sec. The direction is also incorrect.

In actuators.py:

    @property
    def joint_velocity(self) -> float:
        """Measured velocity from the joint encoder in rad/s."""
        if self._data is not None:
            return float(self._data.ank_vel * RAD_PER_COUNT)
        else:
            return 0.0

should be replaced with:

    @property
    def joint_velocity(self) -> float:
        """Measured velocity from the joint encoder in rad/s."""
        if self._data is not None:
            return float(self._data.ank_vel / 10.0 * DEG_2_RAD)
        else:
            return 0.0

self.direction should also be incorporated somehow.

[tkevinbest]

So Dephy reports that it is 10, but in my testing it looks like this isn't true... perhaps something to do with the 9:1 gear ratio? Qualitatively, it looks like `return float(self._data.ank_vel DEG_2_RAD)` would be correct.

[imsenthur]

Added return float(self._data.ank_vel * RAD_PER_DEG) * self.joint_direction to the joint_velocity property. I don't know why there is gear ratio mixed with the joint encoder velocity, we should test this out.

[tkevinbest]

I'm overall confused still. This is what we get from your latest push. I would expect the velocity signal to be more centered in the noise of the position diff:

I don't know why their docs say it is multiplied by 10 when it clearly isn't... but it also doesn't look quite right.

[tkevinbest]

Ok I'm dumb. My loop rate was 200 Hz, not 300. Just using deg/s looks right.