Reference to World Frame

Does acquire_actor_root_state_tensor output world or reference coordinates?
How could I convert output coordinates to world coordinates

Hi @user167960

The actor root states are in the environment space, relative the environment origin. To convert to global coordinates, you can add the environment transform to the actor root states. The environment origin can be retrieved with origin_pos = self.gym.get_env_origin(self.envs[i]).