What's the difference between ENV_SPACE, LOCAL_SPACE, and GLOBAL_SPACE in classisaacgym.gymapi.CoordinateSpace?

Hi Team,

Thanks for the great work. I’m using Preview 3 and I’m curious is there any explanations on the difference between ENV_SPACE, LOCAL_SPACE, and GLOBAL_SPACE in classisaacgym.gymapi.CoordinateSpace?

I’m trying to understand what’s the difference when I call apply_rigid_body_force_tensors. But it seems the documentation doesn’t provide any explanataions.

Hi there,

ENV_SPACE will treat vectors as relative to each environment root (i.e. the translation of the environment). LOCAL_SPACE treats vectors relative to the parent, and GLOBAL_SPACE treats vectors as world space in global coordinates. Depending on the coordinate space used for apply_rigid_body_force_tensors, the force vectors may be treated differently.

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