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Phase 1 / Forge / Narrowphase EPA order-dependence hotfix (M1.1.3-HF)#59

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guysenpai merged 36 commits into
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phase-1/forge/epa-frame-dependence-hotfix
Jul 24, 2026
Merged

Phase 1 / Forge / Narrowphase EPA order-dependence hotfix (M1.1.3-HF)#59
guysenpai merged 36 commits into
mainfrom
phase-1/forge/epa-frame-dependence-hotfix

docs(forge): state inflated-touch shallow iff r_sum > contact_margin

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