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Contact lever arms about the link world COM, not the collider pose - #27

Closed
haixuanTao wants to merge 3 commits into
dimforge:mainfrom
haixuanTao:fix/upstream-lever-arm
Closed

Contact lever arms about the link world COM, not the collider pose#27
haixuanTao wants to merge 3 commits into
dimforge:mainfrom
haixuanTao:fix/upstream-lever-arm

Commits

  1. Commits on Jul 27, 2026

  2. Commits on Aug 7, 2026