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Don't enforce 6 DOFs for WAVGM reference nodes when no rotations - #47

Merged
kmokstad merged 5 commits into
mainfrom
solvers-49
Mar 21, 2026
Merged

Don't enforce 6 DOFs for WAVGM reference nodes when no rotations#47
kmokstad merged 5 commits into
mainfrom
solvers-49

Reduce the weight matrix size if the MPC couples to translations only

b3e8b6a
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