Directly Get End-Effector Trajectory from Planner

[hanyangclarence]

Thanks for your great work!

I am working on RLBench. In their script, they call the get_path() function in class pyrep.robots.arms.arm.Arm. This function returns a list of floats, which I guess is the joint values in the joint space. Now I directly want the path in task space (i.e., the end-effector trajectory) from the path planner. Is there any way to get that?

[hanyangclarence]

Or in other word, I see that the class Arm only implements inverse kinematics. Then is there an implementation for the forward kinematics?