Franka IK implementation in cartesian space

[TheGoblinTechies]

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]

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