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Commit b71cca7b authored by m-guberina's avatar m-guberina
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did run dual arm ik ocp, but there's something evil there. removed final... 

did run dual arm ik ocp, but there's something evil there. removed final velocity to be 0 because it makes no sense for an mpc, did put a  comment to make it optional if there is mpc. wrote what we have and what's missing for RealHeronRobotManager
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