Fabrics output acceleration which is almost impossible to track for any robot as acceleration measurements are almost sure to be inaccurate. Therefore, the output almost always have to be integrated to obtain velocity actions. Similar to the RMP implementation in omniverse, we should add the integration to fabrics directly to allow better comparison to other local motion generators.
maxspahn
commented
1 year ago
Fabrics output acceleration which is almost impossible to track for any robot as acceleration measurements are almost sure to be inaccurate. Therefore, the output almost always have to be integrated to obtain velocity actions. Similar to the RMP implementation in omniverse, we should add the integration to fabrics directly to allow better comparison to other local motion generators.