When I am using the functions "createCollisionShape" and "createMultiBody," I am really confused about the definition of parameters like "collisionFramePosition" and "linkInertialFramePositions." What is the definition of collision frame and inertial frame? The Quickstart Guide on the PyBullet website does not seem to have an explanation. Could someone tell me the definition or give me some resources to read?
Thank you for all of the inputs and advices!
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