Merge dev to main#12

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Larbino1 wants to merge 13 commits intomainfrom

Commits on Feb 27, 2025

Partially successful tests for frame angular velocity in RNE tests
Larbino1
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Commits on Feb 28, 2025

Commits on Mar 4, 2025

Renamed panda mechanisms, split tests into runtests_manual.jl and setup_test_mechanisms.jl to make running tests independently simpler. Fixed projecting joint torque for revolute joints.
Larbino1
committed

Commits on Mar 5, 2025

Updated RNE support for more coordinates/joints. Improved testing. Not all tests pass
Larbino1
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Commits on Mar 7, 2025

Commits on Mar 11, 2025

Commits on Mar 12, 2025

added allocs test for RNE
Larbino1
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Commits on Apr 23, 2025

Update some rsons to use DAE instead of obj.
Larbino1
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Commits on Jun 12, 2025