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Update CHANGELOG.md
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@jslee02
jslee02 authored Apr 19, 2021
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* Dynamics

* Fixed intertia calculation of CapsuleShape: [#1561](https://github.com/dartsim/dart/pull/1561)
* Fixed inertia calculation of CapsuleShape: [#1561](https://github.com/dartsim/dart/pull/1561)

* GUI

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