Update link / base velocities and accelerations #181
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- Get both body and world velocity - Update the setters to make explicit that they set the world velocity and acceleration
diegoferigo
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traversaro
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| world_velocity = (position_new - position_old) / dt | ||
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| # Test the world velocity (MIXED) | ||
| assert world_velocity == pytest.approx(worldLinearVelocity(), abs=1E-2) |
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1E-2 is quite high, what are the velocity values ?
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The z component of this velocity reaches ~4, x and y are much smaller, less than 1.0.
traversaro
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Apr 28, 2020
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| # By time to time there are steps where the acceleration becomes extremely high, | ||
| # like 1000 m/s/s when the average is never exceeds 4 m/s/s. | ||
| # We exclude those points. We should understand why this happens. |
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Not sure what's happening there 🤔
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There are only few cases in 0.5 sec * 10kHz = 5k runs
traversaro
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Apr 28, 2020
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Referring to Multibody Dynamics Notation, the
Worldmethods use the mixed velocity representation [Section 5.2] and theBodymethods the left trivialized representation (body fixed frame) [Section 5].Related to gazebosim/gz-sim#87.