Code: void mj_jac(const mjModel* m,const mjData* d, mjtNum* jacp, mjtNum* jacr,const mjtNum point[3],int body); Hi all, The mj_jac has input arguments as above but I don't fully understand what 'int body' is for. Does it mean that this function considers the 'point' is with respect to the 'body' coordinate frame? Thank you!
It is given a 3D point and a MuJoCo body to which this point is considered to be attached. - documentation does it consider the 3D point with body coordinates or world coordinates? I assume body coordinates.