Closed AdrianaTorres closed 3 years ago
Right now the COM is only defined with its position, x, y and z.
I am not very keen in using '
in the label name, as we could have different symbols for it. Should we then extend with something like: vel_{x,z}
and acc_{x,z}
?
In that case, do we keep (for simplicity) x,y,z
for position (instead of pos_{x,z}
? I am not against it.
@alfonsotecnalia didn´t we have discussion about velocity and acceleration with madrob /beast? What do you think?
didn´t we have discussion about velocity and acceleration with madrob /beast?
Yes, we were proposing an input format JointState containing info about the position, velocity and acceleration of a joint.
time | position | velocity | acceleration |
---|---|---|---|
sec | rad | rad/s | rad/s^2 |
I also prefer vel/acc to '/'' and yes, we could keep x, y and z instead of pos_x, pos_y, pos_z
@AdrianaTorres would this be ok with you: extend com
format to be: x, y, z, vel_x, vel_y, vel_z, acc_x, axx_y, acc_z
?
Yes, x, y, z, vel_x, vel_y, vel_z, acc_x, acc_y, acc_z would be perfect for me!
It would be great to add the velocity and acceleration of the COM. It can be added as 6 extra collumns (x', y', z', x'', y'', z'') in the csv containing the 3D trajectory of the COM.