To make an interactive environment upon the given ones about legged_gym

[nikitardn]

the equivalent in the tensor api is rigid_body_state_tensor = self.gym.acquire_rigid_body_state_tensor(self.sim) for reading the values and self.gym.set_actor_root_state_tensor_indexed for setting root states. You should be able to use those to set positions and velocities of the projectiles. however you won't be able to create new rigid bodies on the fly, so you will need to create all of them before the simulation starts and store them somewhere on the side. Hope this helps

[sprakashdash]

@nikitardn Thanks for the help.. I was able to do this like last week ago. I have one more question: can we make a dynamic terrain in Issac Gym? Like shifting platforms or something like that?

[nikitardn]

You should be able to add shifting platforms as boxes, but our current height scanner won't work with that since we get the heights from the static terrain.