Manually calculating the forward kinematics (without simulation steps)

Discussion in 'Simulation' started by Jędrzej Orbik, Aug 13, 2019.

  1. I would need to get the pose of the bodies in the Cartesian coordinate system for some optimization algorithm (PSO). It would be really convenient to get this directly from Mujoco for all kinds of models.

    In docs it is said, that the forward kinematics are calculated internally by Mujoco at every simulation step.
    Would it be also possible to trigger this function manually to get the position of end effectors (bodies) for the given configuration (qpos)?

    Just the calculation of forward kinematics would be enough, so I don't want to perform the whole simulation step to make it more computationally efficient. Is it possible?

    Thank you for any hints!