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Fix trajectory shake: smooth IK outliers, fix sim dt jitter#3

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Jepson2k merged 2 commits into
mainfrom
fix-trajectory-shake
May 13, 2026
Merged

Fix trajectory shake: smooth IK outliers, fix sim dt jitter#3
Jepson2k merged 2 commits into
mainfrom
fix-trajectory-shake

njit IK-outlier smoother, warmup hookup, regression tests

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succeeded May 13, 2026 in 1m 24s