Determining Slip Thresholds for Varying Ground Friction Coefficients

[Ali-Shahbazi-b]

Dear all,
I am working on detecting the onset of slipping in a robot across a range of ground friction coefficients (from 0.1 to 1.5).
My objective is to determine the maximum speed at which slipping begins for each coefficient value.
Could you please advise me on how to implement this in code?
env = QuadrupedEnv(robot=robot_name, hip_height=hip_height, legs_joint_names=robot_leg_joints, feet_geom_name=robot_feet_geom_names, scene=scene_name, sim_dt=simulation_dt, ref_base_lin_vel=(1,1), ref_base_ang_vel=(-0.2, 0.2), ground_friction_coeff=0.7, base_vel_command_type=base_vel_command_type, state_obs_names=state_observables_names)

[giulioturrisi]

Hello, I did not get your question. Which part of the code is not clear?