Real-Time Physics Simulation Forum

Re: How to get body acceleration?

2021-06-24T20:25:48+00:00

Thanks for the reply, but not quite what I'm looking for. I'm controlling the robot (using joint controllers) and I want to be able to get the acceleration of the base due to the dynamics. I can take a backwards difference of the velocities from one timestep to another, but I was hoping that there was a method to access the accelerations directly.

Statistics: Posted by miker2 — Thu Jun 24, 2021 8:25 pm

Re: How to get body acceleration?

2020-04-23T18:12:55+00:00

Hi,
you can use while loop to accelerate the bot in a way you want.
For example,

Code:

while True:    cubePos, cubeOrn = p.getBasePositionAndOrientation(bot)    cubeEuler = p.getEulerFromQuaternion(cubeOrn)      dv = k*cubeEuler[0]   p.stepSimulation()

Hope this helps!!!

Statistics: Posted by tayalmanan — Thu Apr 23, 2020 6:12 pm

How to get body acceleration?

2020-04-09T22:58:07+00:00

I've looked over the PyBullet user guide and can't seem to find a solution to this question. Is there an accessor for the linear acceleration of a body?

Specifically I'd like the linear acceleration of the base link.
I see the `getBasePositionAndOrientatiion` & `getBaseVelocity(model)` methods, but I see no method for accessing the acceleration of the base (or any other link).

Statistics: Posted by miker2 — Thu Apr 09, 2020 10:58 pm