Forward kinematics for robot arm

[H.B. Jiang]

Hi,

I'm wondering if it is possible to add support for computing forward kinematics for robot arms in RLBench, so that we can compute the actual required end-effector pose from executed_demo_joint_position_action.

Thanks!

[Eugene Teoh]

You can compute forward kinematics using another package like pytorch_kinematics with the urdf provided:
https://github.com/stepjam/RLBench/tree/master/urdfs/panda