How to involve Lula Kinematics into Omni IsaacGymEnvs so that we can use kinematics based position control instread of dynamics

How to use Lula Kinematics under Omni IsaacGymEnvs?
I want to use the Lula Kinematics to calculate the end-effort position by tensor data instead of np and able to set it to robot by pure position control instread the dynamics based PD method.

Hi Andy,

The Python bindings for the Lula kinematics library require that joint positions be input as numpy arrays, so you would need to convert your tensor data into numpy arrays for each instance of the robot.