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grozail
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@grozail grozail commented Oct 16, 2018

Noticed that you had TODO to fix payload method. Previous behavior is quite confusing since it overrides dynamics of the last link instead of parameter recalculation.

@petercorke
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Why did you remove the jointdynamics method? It's quite independent of the payload change that you did? Also, do you have code that you used to test the new functionality that be folded into the unit tests?

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