[Question] Does "rot" in "InitialStateCfg" affect the actor's world frame?

[H-Hisamichi]

Hello everyone,

"InitialStateCfg" has a feature to apply an offset to the pose defined in the asset USD, setting the initial pose in Isaac Lab.
Does this feature also modify the actor's world frame in Isaac Lab?
(For example, if a 90-degree rotation around the x-axis is applied in "InitialStateCfg", will the actor's world frame in Isaac Lab also be rotated by 90 degrees?)

[RandomOakForest]

Thank you for posting this. It will not modify the world frame, it should only change the pose of the root in simulation world frame.

[H-Hisamichi]

Hello @RandomOakForest,

Thank you for the information.
I understand now.