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Add sensor matrices to mjd_transitionFD.

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- Also add missing `mj_jacSubtreeCom` to Python bindings.

PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84
This commit is contained in:
Yuval Tassa
2022-09-01 13:00:02 -07:00
committed by Copybara-Service
parent 46da1285af
commit e3a82247c2
7 changed files with 157 additions and 31 deletions
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doc/changelog.rst
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@@ -61,6 +61,7 @@ General
- Added a disable flag for sensors.
- :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
|br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
- Added sensor matrices to ``mjd_transitionFD`` (note this is an API change).
Deleted/deprecated features
^^^^^^^^^^^^^^^^^^^^^^^^^^^