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aremazeilles / eurobench_documentation

Description of some Eurobench Benchmarking Software mechanisms
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Addition of the COM velocity and acceleration #66

Closed AdrianaTorres closed 3 years ago

AdrianaTorres commented 3 years ago

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.

aremazeilles commented 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?

alfonsotecnalia commented 3 years ago

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

aremazeilles commented 3 years ago

@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?

AdrianaTorres commented 3 years ago

Yes, x, y, z, vel_x, vel_y, vel_z, acc_x, acc_y, acc_z would be perfect for me!