Hello, I am implementing to train a 4 wheel vehicle in the isaac gym environment.

But i can’t figure out how to take angular and linear velocity together.

Is there any solution about that?

Hello, I am implementing to train a 4 wheel vehicle in the isaac gym environment.

But i can’t figure out how to take angular and linear velocity together.

Is there any solution about that?

What linear and angular velocities do you want? Do you want the velocities of the base vehicle? Do you want the velocities of the wheels?

If you want the velocities of the wheels, you will only be able to get an angular velocity using something like `gym.acquire_dof_state_tensor(sim)`

.

If you want the velocities of the base vehicle, you can do something like this:

```
_root_tensor = gym.acquire_actor_root_state_tensor(sim)
root_tensor = gymtorch.wrap_tensor(_root_tensor)
root_velocities = root_tensor[:, 7:]
```

`root_velocities`

will contain the linear and angular velocities for each actor root.

Thank you for reply.

I want to move by the angular velocity, also fixed linear velocity to consistent value.

but i don’t know which command can simultaneously move.