Which point does acquire_rigid_body_state_tensor measure from?

Robotics & Edge Computing Robotics - Isaac Isaac Gym
1

Hello,

I have a question regarding the ‘acquire_rigid_body_state_tensor’ function. I understand that this function retrieves the position, angular velocity, and linear velocity of a rigid body. However, I would like some clarification:

  1. Does ‘rigid_body’ in this context refer to a robot link?
  2. Where on the link does the function measure from? Is it the middle, the edge, or somewhere else?
  3. Is it the center of mass of the link, or another point (such as a joint location)?

I would greatly appreciate any information that could help me understand the exact behavior of this function.

Thank you in advance for your help!