I tried the
getCOMAcceleration function and has some questions.
I first add some forces to the skeleton, then I expect to get a non-zero COM acceleration. Indeed it returned with an acceleration vector. Then I step() the simulator. After that, I think the COM acceleration should be 0 as I already step() that and no new forces are added. However, I still get a non-zero vector.
This makes me guess that the
getCOMAcceleration actually returns the acceleration before the ‘step()’ happens.
I wonder what’s the internal data update scheme and what’s the actual state of the data, when i use those