As mentioned in ATR-26657, two chains have been moved from the Dev to the physics menu, these are:
They've been assigned the PrimaryLegGroup, tagging @cpollard and @lbeemste for information, as well as @khoo and @lidiaz.
Catrin Bernius authored0c9d6c83
Catrin Bernius authored2a4041af
Catrin Bernius authored6bcb7654