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Rotate a rotated inertial origin's tensor and a rotated prismatic origin's translation; pinocchio oracle over every fixture - #7

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plancherb1 merged 2 commits into
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inertial-origin-rotation
Oct 17, 2026
Merged

Rotate a rotated inertial origin's tensor and a rotated prismatic origin's translation; pinocchio oracle over every fixture#7
plancherb1 merged 2 commits into
mainfrom
inertial-origin-rotation

Oracle builds pinocchio from the quarter-turn-snapped URDF; continuou…

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