Add a point Jacobian to the public API
Add a point Jacobian to the public API: a task in MiMo-V2.6-RL-harbor-code: MiMo-V2.6-RL Code (Harbor) (Harbor dataset). MJWarp can already do forward kinematics and reproduce MuJoCo's center-of-mass quantities ( subtree com , cdof , etc.), but there is no way to ask "how does each degree of…
The task
MJWarp can already do forward kinematics and reproduce MuJoCo's center-of-mass quantities (`subtree_com`, `cdof`, etc.), but there is no way to ask "how does each degree of freedom move a given point in the world?". MuJoCo exposes this as `mj_jac`, and we want the equivalent in MJWarp so downstream code (end-effector…
Part of FineEnvs/MiMo-V2.6-RL-harbor-code.