First you need to enable SSH on the ESXI host and SSH in.
Then you need to find your disk identifier. There are many complicated CLI ways floating around, but I prefer to use VSphere Client!
Open VSphere and click your host >> configuration >> storage >> devices >> copy identifier to clipboard.
Now in the CLI on the ESXI Host you would use something like this.
(First make directory for local disks)
mkdir /vmfs/volumes/datastore1/LocalDisks
Then:
vmkfstools -z /vmfs/devices/disks/t10.ATA_____ST5000D************************** /vmfs/volumes/datastore1/LocalDisks/localdisk1.vmdk
That's it for the CLI. Now you have to add this local disk to a VM Guest!
Right click guest and edit settings >>
Select Add under Hardware Tab >>
Select Hard Disk >>
Use Existing >>
I choose Independent mode >>
Next >> Complete!
Now in your guest you should be able to see the disks. (In linux try sudo blkid, in windows, start >> diskmgmt.msc)