Genesis-Embodied-AI
Setting base velocity
Is there a way to set the base link linear and angular velocities in the same way we can set position and orientation?
The linear and angular velocities of the base link can be assigned using set_dofs_velocity() with dofs_idx_local set to [0, 1, 2, 3, 4, 5].
Quick follow up on @ziyanx02 answer (also, remember to set fixed=False when instantiating the robot).
If you are looking for something like rigid_entity.set_pos, which works for both fixed- or floating-based body, it can be somewhat tricky to do for set_vel. If fixed=True, attributes related to dynamics (e.g., velocity, acceleration, etc) of the base link are not included in the coordinates qpos or dofs dofs_state inside the solver. Thus, the velocity of the base link won't take effect on the position, as in rigid_solver._func_integrate where nothing done in the integration can affect the later on kinematics (links_state.vel basically cannot affect links_state.pos).
For sure we can hack this but this may make the code super ugly (at least so far I didn't think of a good way). One workaround is to do the integration outside and use set_pos if you really want to set velocity on a fixed-based robot. But again this won't properly handle the dynamics -- you should set fixed=False to incorporate dynamics in the base link and do set_dofs_velocity.
suggesting add method "set_vel" and "set_ang",just like "set_pos", this should not be hard and it's easier to use. I've been looking for the answer on the document so long until I see this issue.
