How to get foot velocity

[Kashu7100]

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. Is acquire_rigid_body_state_tensor right function (then index with the foot like rigid_body_state[:, feet_indices, 7:10])?

Any advice is appreciated!

Sincerely,

[junny-kim]

solving the kinematics to get the foot velocity can be one solution :)

[TextZip]

@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