Add mj_jacDot: Time derivative of kinematic Jacobian.

PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780

doc/APIreference/functions.rst

@@ -323,7 +323,8 @@ frame (``point``) treated as attached to the body, the Jacobian has both transla
 (``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
 3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
 respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
-consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
+consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos` (in
+that order).
 
 .. _mj_jacBody:
 
@@ -380,6 +381,18 @@ mj_jacPointAxis
 
 Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
 
+.. _mj_jacDot:
+
+mj_jacDot
+~~~~~~~~~
+
+.. mujoco-include:: mj_jacDot
+
+This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`.
+The minimal :ref:`pipeline stages<piStages>` required for computation to be
+consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are
+:ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order).
+
 .. _mj_angmomMat:
 
 mj_angmomMat

doc/APIreference/functions_override.rst

@@ -184,13 +184,21 @@ frame (``point``) treated as attached to the body, the Jacobian has both transla
 (``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
 3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
 respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
-consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
+consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos` (in
+that order).
 
 .. _mj_jacBody:
 
 This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or
 site. They are just shortcuts; the same can be achieved by calling mj_jac directly.
 
+.. _mj_jacDot:
+
+This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`.
+The minimal :ref:`pipeline stages<piStages>` required for computation to be
+consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are
+:ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order).
+
 .. _mj_angmomMat:
 
 This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from