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added center of mass to Panda DH definition (and cleaned it up a bit)#304

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jenskober wants to merge 4 commits intopetercorke:masterfrom
jenskober:master
Open

added center of mass to Panda DH definition (and cleaned it up a bit)#304
jenskober wants to merge 4 commits intopetercorke:masterfrom
jenskober:master

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