Inverse of robot model


I’d like to control the simulated robot with input from human players. To do so, I need the inverse dynamics model of the robot so that I could map from the target states to the actions. But I could not find neither the forward nor the inverse dynamics model of the robots in your packages or the github repository. Did I missed it?Where could I find these models of the robots?


one way is to use attractors, there is one example which might help you: Franka Attractor (
In another post we discussed using it for the position control of two ends of a rope.