What is the main difference between sensor/framelinvel and sensor/velocimeter? #2296
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IntroHi! I am an enthusiast interested in robotics and have just started to learn mujoco. My setupMujoco 3.2.6 My questionWhat is the main difference between sensor/framelinvel and sensor/velocimeter in a XML model? Can I simply regard sensor/velocimeter as a sensor/framelinvel with the frame-of-reference itself and the site ref-type? And I have the same confusion about sensor/frameangvel and sensor/gyro. Minimal model and/or code that explain my questionNo response Confirmations
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Replies: 1 comment 3 replies
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Not exactly. If you define a framevel of a thing w.r.t itself you will get zero by definition; nothing moves in its own frame. the velocimeter and gyro are w.r.t to a frame that is oriented in the same way but is not moving. Read engine_sensor.c for full details. |
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Thanks a lot! And I would like to read engine_sensor.c later. |
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Yes, w.r.t the current local frame, but one that is not moving. |
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OK, thanks again! |
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Not exactly. If you define a framevel of a thing w.r.t itself you will get zero by definition; nothing moves in its own frame. the velocimeter and gyro are w.r.t to a frame that is oriented in the same way but is not moving. Read engine_sensor.c for full details.