For Dynamixel servos you can choose any of the three types of control options. When you select velocity only it will set the position to be the maximum angles in the direction you are moving and then move the servo at the specified rate. For position only control it will use the maximum servo velocity and set its position based on the input. For position and velocity control you will need to have two adapters with different target data types. One to control the position and another for the velocity. One thing to keep in mind here is that if you set the position, but have the velocity still set at 0 then it will not move the part. You have to control both of them. This controller uses the synchronous move request to control the Dynamixel motors, and it will only send move commands for motors that have changed values. For example, say you have changed the position and velocity of two motors in a given time step, then it will send out a single move packet with the new position and velocity values for those two motors instead of sending out multiple separate packets. This helps minimize the amount of data that has to be sent out and increases the motor update rate.
The prismatic part type is essentially a hinge that is geared to produce linear motion. You can only associate this type with prismatic joints. All of the settings are essentially the same except it has an additional Translation Range parameter that is used to convert the maximum angular movement to the maximum translation movement.
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