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The low-level velocity control is implemented in a way, that you have to compensate for gravity, so it is not really useful velocity control. https://github.com/Kinovarobotics/kortex/issues/42 "The actual implementation of velocity control in the actuators causes your velocity to be directly feeded to the velocity control loop, which can cause a certain delay in the command and the drifting you have seen. We may address this in an upcoming release, so I will let this story opened.", since 2020.