google-deepmind
MJX implementation of mj_jacSubtreeCom
The feature, motivation and pitch
I am working on implementing a whole-body-controller for bipedal robots. It is important to have the task for the angular and linear momentum for the Center-of-Mass. In mujoco, I can get such information from mj_jacSubtreeCom and mj_angmomMat. I would like to ask if it is possible to implement the two functions in MJX, or please give me some hints how to implement them. Thank you very much.
Alternatives
No response
Additional context
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Hi @gautica , can you use subtreelinvel and subtreeangmom sensors recently added to MJX? Let us know if that's sufficient for your use-case
@btaba hi, can you help regarding subtreelinvel? tried to use it but it is not going well. can you please check https://github.com/google-deepmind/mujoco/discussions/2147#discussion-7329000
thank you.
