Bandi Jai Krishna

@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

Have you looked at `get_env_rigid_contacts` ?

As per the current documentation for Isaac Gym(1.0preview4), > "Fixed, revolute, and prismatic joints are well-tested and fully supported." Changing the joint type from `continuous` to `revolute` with limits is...

Were you able to find any fix for this? I have the same issue with Isaacgym preview 4. I have two URDF files, A and B (I, unfortunately, cannot share...

Hi, We can generate a list of feet indices: ``` for name in feet_name: idx = gym.find_asset_rigid_body_index(robot_asset, name) feet_index.append(idx) ``` Then we can acquire rigid body states and wrap them...