[Question] How to Use Child object Positions as Tensors for Observations and Rewards in Isaac Lab

[Hokite]

Hello everyone,

In Isaac Lab, I have verified that robot USD file information such as body and joint details can be accessed through ArticulationCfg.

I also confirmed that this information can be retrieved in tensor form across multiple environments and utilized in observation and reward calculations.

However, as shown in the current pictures, I have created a sphere mesh as a child object of the robot's body (link).

I want to use the position of this sphere in tensor form for observations and rewards. Are there any classes or methods defined that allow this?

I need your help, please

[RandomOakForest]

Great question. Will move this to our Discussions for follow up. Thanks for posting this.