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Add support for reference target (beyond just world-frame targets). #1395

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Add support for reference target (beyond just world-frame targets).

Add support for reference target (beyond just world-frame targets). #1395

Run time

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Job Run time
MuJoCo MPC on ubuntu-20.04 with Clang 12
30m 25s
MuJoCo MPC on macos-12
24m 18s
54m 43s