Local Orientation(Pose) of agents

Omniverse Isaac Sim
1

Is there a way to convert orientation(Quaternion) retrieved from get_world_pose() to local coordinates?

2

Do you mean local coordinates is roll, pitch and yaw?
If you get Quaternion, you can get roll, pitch and yaw by following code.

from pxr import Gf
rot = Gf.Rotation(quat) # quat is your quaternion
rot_vec = rot.Decompose(Gf.Vec3d(1, 0, 0), Gf.Vec3d(0, 1, 0), Gf.Vec3d(0, 0, 1))
print("roll: " + str(rot_vec[0]) + ", pitch: " + str(rot_vec[1]) + ", yaw: " + str(rot_vec[2]))

It may have more easy way.

1 Like
3

Here’s more information about axes representation in Isaac Sim: Sensor Axes Representation (LiDAR, Cameras) — Omniverse IsaacSim latest documentation

1 Like