MJX implementation of mj_jacSubtreeCom

[gautica]

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

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Additional context

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[btaba]

Hi @gautica , can you use subtreelinvel and subtreeangmom sensors recently added to MJX? Let us know if that's sufficient for your use-case