About Velocity of CoM

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hello, I would like to inquire if there are any methods to calculate the velocity of the center of mass automatically.

2

I used something like this for calculating the velocity of the robot’s foot
self.foot_quat= self.body_states.view(self.num_envs, self.num_bodies, 13)[:,2, 3:7]
# print(“self.foot_quat”,self.foot_quat)
self.foot_lin_vel= quat_rotate_inverse(self.foot_quat, self.body_states.view(self.num_envs, self.num_bodies, 13)[:,2, 7:10])
self.foot_ang_vel= quat_rotate_inverse(self.foot_quat, self.body_states.view(self.num_envs, self.num_bodies, 13)[:,2, 10:13])
self.foot_euler= get_euler_xyz(self.foot_quat)

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