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Compute the whole-body-inertia and the average-angular-velocity. - #75

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Compute the whole-body-inertia and the average-angular-velocity. #75
wyqsnddd wants to merge 29 commits into
jrl-umi3218:masterfrom
wyqsnddd:whole-body-inertia

[pre-commit.ci] auto fixes from pre-commit.com hooks

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