Add a point Jacobian to the public API
Add a point Jacobian to the public API: a task in MiMo-V2.6-RL-oss: Agentic RL Environments (MiMo RL release). 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…
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…
Part of XiaomiMiMo/MiMo-V2.6-RL-oss.