Andrej Kruzliak

This would be a very important feature addition, since controller input is often modelled in the way of XY plot and when I want to validate correct body velocities of...

Hi, any update on this from both sides? @AlanSunHR did you find out whats the problem with the randomization? I am looking into applying higher friction into only the feet...

Hi, I believe you are in the "instancable" asset USD. If you want to add contact sensor, you can go into the anymal_base.usd and do it there, although instancable asset...

`prepare_contacts()` at the bottom here: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/robots/articulations/anymal.py Andrej On Fri, Nov 17, 2023, 02:10 SENG HONG LEE ***@***.***> wrote: > Hi, I believe you are in the "instancable" asset USD. If...

Get inspired from the task `anymal_terrain`. They use the position control mode, so they compute the torque based on the default joint positions, the stiffness and damping of the joint...

Hi, its a bit more complicated. The answer to your questions is `anymal_view.py`. You need to create a RigidPrimView() where the track_contact_forces = True and prepare_contact_sensors=True. You don't set it...