Hello everyone.
I am working on reinforcement learning (RL) for a Hexapod Robot in Isaac Lab, and I need to get the local frame rotation information of the robot at any given step. However, in Isaac Lab, I can only access the world frame rotation information, which may be due to my lack of research.
We do not use IMU sensors because we want to do “Learning by Cheating”.
Do I need to use Isaac Sim’s API to obtain local frame information?