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Matthieu Vigne authored
Add jacobianSubtreeCenterOfMass and associated python bindings. This function computes the jacobian of the center of mass of a subtree, as a barycenter of individual body jacobian.
2ac1fd28
Add jacobianSubtreeCenterOfMass and associated python bindings. This function computes the jacobian of the center of mass of a subtree, as a barycenter of individual body jacobian.