Franka IK implementation in cartesian space

JeanElsner / dm_robotics_panda

Panda model for dm_robotics

https://jeanelsner.github.io/dm_robotics_panda/

Apache License 2.0

22 stars 2 forks source link

Franka IK implementation in cartesian space #6

Open TheGoblinTechies opened 7 months ago

TheGoblinTechies commented 7 months ago

I'd like to know in which way the franka can do IK in cartesian space since MuJoCo does not offer such a function, unlike pybullet or other simulators. After a quick view in hardware.py, I am unsure if the franka IK is implemented based on panda_py (libfranka)? I would appreciate it if the authors could provide any clues on this.

JeanElsner commented 7 months ago

The model supports the Cartesian velocity controller implemented as part of dm_robotics. Alternatively, if you're interested in the Panda specifically, panda-py includes very fast analytical IK.

Finally, there are several other general options for IK:

IK in dm_robotics (C++ implementation, fast)
IK in dm_control (Python implementation, not quite so fast)
You can also achieve Cartesian control in MuJoCo directly using site transmition