The units of Position Command in Articulation Controller

Is the input unit for the position command in the Articulation Controller in degrees or radians?
Here is the target joint values lined below and there is no obvious relationships between the /joint_command and the /joint_states topic.

Can you help me?

By the way, are velocities and efforts the same to it?
I’ve checked the doc below and found no clues.

I found it. it’s radians.

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