What is the unit of the gain parameter of the servoj function? The URScript manual states that the gain must be between 100 and 2000, but does not specify what its units are. (It doesn’t seem like a gain value of 100 corresponds to “no movement.”)
On a related note, what is the formula used to calculate the acceleration based on the current pose and speed and the function arguments? I imagine it’s something like
f(gain) * (p_target - p_current - lookahead_time * dp_current)
but it would be help to actually know.