How to get my 'ee position'?

[shuibaiii]

Another question, is there any formula or function I can get 'the end of robot position'(ee position) based on 'Joint Position'? If i can't, can we get the parameter of robot? so I can calculate by myself.

Thank you very much!

[boris-il-forte]

You should use the forward kinematics.
See the documentation here:
https://air-hockey-challenges-docs.readthedocs.io/en/latest/api.html#kinematics

Notice that the Mujoco model and the data can be found in the env_info structure, see here:
https://air-hockey-challenges-docs.readthedocs.io/en/latest/environments.html#env-info