What are the units for angular velocity / torque?

[GONC]

I'm currently trying to apply forces to btRotationalLimitMotors (for the generic 6 dof constraints), but I'm somewhat confused about what units everything is measured in. Some of the documentation for other classes state meters and seconds, so I assumed everything would be in SI.

Pointing towards this topic: http://www.bulletphysics.com/Bullet/php ... f=9&t=2468

This mentions that m_maxMotorForce is the maximum torque that the motor applies to maintain the desired velocity, and 'its value shouldn't be too high'.
What is this torque measured in? N.m?

And the desired velocity, is this angular velocity and should be measured in rad/s?

Any help would be appreciated. Thanks.