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what are the differences between xipos and subtree_com?
According to the document, xipos is the cartesian coordinate of body com and subtree_com is also the com of kinematic subtre which in my understanding, is the same.
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Hi,
I am currently using mujoco MJX to implement my own environment.
There are two values used in _pos_vel function in the MJX tutorial.
what are the differences between xipos and subtree_com?
According to the document, xipos is the cartesian coordinate of body com and subtree_com is also the com of kinematic subtre which in my understanding, is the same.
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