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[WIP] Added with_friction support for muscle driven dynamics. Ported funtionalities from torque driven dynamics #1710

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[WIP] Added with_friction support for muscle driven dynamics. Ported funtionalities from torque driven dynamics

[WIP] Added with_friction support for muscle driven dynamics. Ported funtionalities from torque driven dynamics #1710

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succeeded Jan 31, 2025 in 14s