Get end-effector pose from path planner

[hanyangclarence]

Thanks for your great work!

In rlbench.action_modes.arm_action_modes.py, class EndEffectorPoseViaPlanning, in the self.action function, it calls scene.robot.arm.get_path to generate a path from current pose to the target pose. The returned path is in joint space. But I now want the end-effector trajectory, so I would like to know how can I directly get the path from the planner in world coordinate space.

I know that I can call scene.get_observation() after each scene.step() to get the end effector pose. But I currently need a path directly from the planner, not from the execution results. So is there any way to get that?

Thanks a lot for your reply!

[OrangeSodahub]

Hi, dosesn't the data_generator directly output that?

[hanyangclarence]

Which data_generator you are referring to? Those data (joint angle, velocity, ee pose, etc) are available in the Observation class, but it has to be obtained after rollout. For getting the end-effector pose before rollout, I didn't find any code that can do that.