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fix(models,ik): correct YuMi gripper parents and IK failure-path q compaction - #649

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petercorke merged 2 commits into
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fix/yumi-gripper-parent-swap
Aug 26, 2026
Merged

fix(models,ik): correct YuMi gripper parents and IK failure-path q compaction#649
petercorke merged 2 commits into
mainfrom
fix/yumi-gripper-parent-swap

fix(ik): compact q on IK failure return, matching the success path

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