Force rendering at actuators locations

[rohit-kumar-j]

For rendering force at actuators positions, in this function, it uses site.xmat and site.xpos by placing sites at actuators locations. Is there an alternative to get the xpos and xmat of the actuators something like:

data.joint("joint_name").location_pos   # (nu x 3)
data.joint("joint_name").location_mat   # (nu x 9)

This is the example used:

[yuvaltassa]

data.joint("joint_name").xanchor is the global joint position.
data.joint("joint_name").xaxis is the global joint axis orientation (so 3, not 9).
This is all reasonably well documented in the comments here, but I agree that the removal of the jnt_ and body_ prefixes for some fields is annoying and makes some quantities harder to discover.

[yuvaltassa]

PS, please use issues rather than discussions. It's a bit annoying that questions can come up in two places and we're trying to move away from discussions for things that are not actually discussions (e.g. questions like this one)

[rohit-kumar-j]

Certainly