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Add mj_jacSubtreeCom for computing subtree center-of-mass Jacobians.

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PiperOrigin-RevId: 464075727
Change-Id: If679c0fdd05b7dc84154cec00963aeea7bbdacc3
This commit is contained in:
Yuval Tassa
2022-07-29 07:43:52 -07:00
committed by Copybara-Service
parent cd489fc72d
commit fcf4131771
7 changed files with 211 additions and 4 deletions
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doc/changelog.rst
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Changelog
=========
.. Upcoming version (not yet released)
.. -----------------------------------
Upcoming version (not yet released)
-----------------------------------
- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
Version 2.2.1 (July 18, 2022)
-----------------------------