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How do I plot acceleration of joints/links for my robot
Posted: 02 Jun 2016, 18:41
by Shinji3000
I ran the simulation scene and have plotted velocity graphs for each joint. Now I want to plot acceleration for these joints.
I couldnt find Joint:acceleration in "Data stream type".
Please help me how to plot acceleration graph for joint/link.
This is in IK module.
Regards,
Re: How do I plot acceleration of joints/links for my robot
Posted: 03 Jun 2016, 08:17
by coppelia
Hello,
in the
graph properties, select the velocity data stream item, then select
Derivative instead of
Raw in the combobox below.
Cheers
Re: How do I plot acceleration of joints/links for my robot
Posted: 16 Nov 2022, 22:14
by Fery64
The answer is not clear, I also wanted to do the same, but I do not see the option raw or derivative when I open the Graph properties window !
https://tinypic.host/i/raw.yoyvp
Re: How do I plot acceleration of joints/links for my robot
Posted: 18 Nov 2022, 08:10
by coppelia
Hello,
the original post is from 6 years ago. CoppeliaSim has greatly improved since then. Now, most things can/should be done programmatically. Some of the old dialogs can be still displayed with following
temporary trick (not recommended):
In file
usrset.txt, set or add an entry with:
You can find the location of
usrset.txt by typing
sim.getStringParam(sim.stringparam_usersettingsdir)
Much better would be to the things the new way. For that, have a look at the
graph page for a quick overview. For transformation of the data, you can either provide already transformed data to sim.setGraphStreamValue, or you can set a transformation type with sim.setGraphStreamTransformation.
Cheers