How to know the local frame quaternion in Isaac Lab

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hello everyone.

I am looking for an easy way to get local frame observables in Isaac Lab. There are many ways to get observational data in the world frame.
Does anyone know?

3

Hi @Hisamichi

Thank you for posting on the Isaac Forum .
Could you please check below document see if this API is what you’re looking for?

get_local_pose()→ Tuple[numpy.ndarray, numpy.ndarray][]
Get prim’s pose with respect to the local frame (the prim’s parent frame)

https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world%20frame#xform-prim

Best,
-Todd