I am currently try to retrieve the local poses from Base_link of robot i.e. robot.baselink.get_local_poses() using get_local_poses()

However , if I train using this method the training is slow.
Is there any other way to get local poses from the base_link of robot

Hi @ashroboter

You can use the method get_world_poses (from RigidPrimView or ArticulationView classes that are optimized for tensor operations) subtracting the pose of the environment to obtain the local pose as shown in the OIGE examples.

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What about the orientation part? How to convert them