Is there any se3 function for mujoco.

[jeongsukchul]

There is jacp function for mujoco but i can't find se3 function that gives me se3 matrix(for each body or end-effector) when the input is joint value.

[yuvaltassa]

You mean the rotation matrix? All the mjData.something_xmat is exactly that.

[yuvaltassa]

Or perhaps you mean the motion axes? Anyway your question is not very clear.

[jeongsukchul]

Im sorry. i can use mjData.something_xmat or others but which is only available when the present joint value is at that value
So I want "mj_something_mat" for not actually go to that position so i want this kinds of function
mj_mat(joint angle1, joint angle2 ...) so that when i put values about joint angle, i can get the something_mat without "actually move to that position" now is it clear?

[saran-t]

If I'm understanding your question correctly, you should be able to save the qpos, modify it, get whatever matrix you need (after calling mj_kinematics), then restore the saved qpos value.