Plans for providing forward/inverse Kinematics, access to the Jacobian??

ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

https://robosuite.ai

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Plans for providing forward/inverse Kinematics, access to the Jacobian?? #128

Closed robotgradient closed 3 years ago

robotgradient commented 3 years ago

Hello,

I was looking around the suite and I realize the environments don't provide essential robotics function such as Forward/Inverse Kinematics, Inverse Dynamics, Jacobian between configuration and task space.

Do you have any plan of integrating such features?

Best regards, -Julen

cremebrule commented 3 years ago

Hi Julen,

Could you perhaps be a bit more specific? We currently support IK control for our original robosuite v0.3 robots (Panda, Sawyer, and Baxter), and Jacobians for any arbitrary mujoco body / geom / site is already supported by mujoco-py (see their documentation for method calls).

cremebrule commented 3 years ago

As this is a stale issue, I'm going to close this for now. Feel free to re-open it if you have any updates!