I've recently started reading your excellent work, and I noticed that the concept of zero CoM is crucial for ensuring the invariance of the generation process. However, while reviewing the provided code, I couldn't find the part where you perform the 'translate C to zero CoM' operation. Could you kindly point me to the relevant section in the code? Thanks a lot.
Hi Minkai,
I've recently started reading your excellent work, and I noticed that the concept of zero CoM is crucial for ensuring the invariance of the generation process. However, while reviewing the provided code, I couldn't find the part where you perform the 'translate C to zero CoM' operation. Could you kindly point me to the relevant section in the code? Thanks a lot.