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+## July 8 2024
+1. Can set ERP and CFM for 6 DOF springs and non spring joints
+2. Added flag to indicate the ERP and CFM has been set in the ADF file
+3. Updating Ghost objects pose based on its parent's inertial pose for better synchronization.
+
 ## June 26 2024
 1. Removed setting forces and torques in the Ghost Object update
 2. Added ROS Communication Support for Ghost Objects