According to the document of mujoco, the qpos, qvel only contains angle and angle-speed. Besides, I also do not find any sensors measuring angle acceleration of a joint.
Am I suggested to calculate it myself using angular_accelerations = (current_velocities - prev_velocities) / time_step?
This is inaccurate when nstep>1 using previous qvel and current qvel, it will be a waste of computation using for-loop for nsteps mj_step instead of mujoco.mj_step(self.model, self.data, nstep=nstep). Or am I wrong?
I am wondering whether there are any better solutions. Thank you very much.
quagla
commented
1 month ago
I am sorry for asking such a simple question.
According to the document of mujoco, the
qpos,qvelonly contains angle and angle-speed. Besides, I also do not find any sensors measuring angle acceleration of a joint.Am I suggested to calculate it myself using
angular_accelerations = (current_velocities - prev_velocities) / time_step?This is inaccurate when
nstep>1using previous qvel and current qvel, it will be a waste of computation using for-loop for nstepsmj_stepinstead ofmujoco.mj_step(self.model, self.data, nstep=nstep). Or am I wrong?I am wondering whether there are any better solutions. Thank you very much.