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Fail disconnected links at rest, and seat the SO-100 elbow, wrist, and claw - #884

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Fail disconnected links at rest, and seat the SO-100 elbow, wrist, and claw#884
w1ne wants to merge 1 commit into
developfrom
cursor/so100-gripper-seat-1c05

fix(mechanism): fail a disconnected link when the pose sweep is skipped

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