Open Kashu7100 opened 2 years ago
solving the kinematics to get the foot velocity can be one solution :)
@Kashu7100 , Did you find a solution for foot velocity?
I'm trying to use acquire_rigid_body_state_tensor
as well, just wanted to know if there was a better alternative.
TIA
Hello,
Does anyone know how to acquire the quadruped's foot velocity? For the base, we can use
acquire_actor_root_state_tensor
but I am not sure how to do the same for the foot. Isacquire_rigid_body_state_tensor
right function (then index with the foot likerigid_body_state[:, feet_indices, 7:10]
)?Any advice is appreciated!
Sincerely,