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Commit 705b77cf authored by m-guberina's avatar m-guberina
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ellipse is off. work needs to be done to fix it. the only reasonable solution... 

ellipse is off. work needs to be done to fix it. the only reasonable solution is to replace ik_env integration with pinocchio in ik_env, as that needs to go anyway. move on from that code, it gave you everything that could. this is some work though, and i don't have the time for it, so we're stopping here with this'
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