Questions for position correction in integretor xpdb

[Hakuna25]

Acoording to line 1742 in integretor_xpdb.py, rel_p = err * wp.normalize(world_com_c - world_com_p) indicates that the direction of rel_p is from child to parent as err is negative. Then rel_p is assigned to linear_c. Could there be a misdirection in the constraint to the child? Since the direction of linear_c should ideally point from parent to child to push the child away from the parent when they are too close.