Alexis DUBURCQ comments

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                                            Alexis DUBURCQ

[FEATURE] expose ref interface for get_vel in rigid_entiry

What is the actually use case of this? From my experience, link origin is what you need 99% of the time. Basically, anything else does not make much sense. But...

[FEATURE] expose ref interface for get_vel in rigid_entiry

No I don’t think so. Unless it is not robotics related, because this quantity has no physical meaning and cannot be computed reliably on a real robot since entity's CoM...

[FEATURE] expose ref interface for get_vel in rigid_entiry

> I think not always the link origin is a good coordinate frame to use (COM is sometimes more convenient). Do you have any use case to support this assertion?...

Support capsule and better error messages?

Related to https://github.com/Genesis-Embodied-AI/Genesis/issues/564

As suggested in /issues/10

Rendering issues have been fixed on main branch.

[FEATURE] Add Reset Scene and Stop Rendering function and fix black formatting

I'm not sure about this PR. What is the point of being able to reset the scene with the viewer using a keyboard shortcut ? Besides, enabling the interactive viewer...

[Bug]: `self.drone.get_quat()` return `nan` in hover env.

@Nam-dada I can try to help you on this.

[Bug]: `self.drone.get_quat()` return `nan` in hover env.

How long does it take before it starts returning nan ? Do you have a self-contained reproduction script ?

[Bug]: `self.drone.get_quat()` return `nan` in hover env.

Thank you ! I will have a look as soon as I have some bandwidth, hopefully tomorrow.

[Bug]: `self.drone.get_quat()` return `nan` in hover env.

I can reproduce the nan issue. I will have a look ASAP. Sorry for the delay.