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Extend Support for Mimic Joint #2441

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[EtienneAr feedback] Revert all changes in unsupported algorithms

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Extend Support for Mimic Joint #2441

[EtienneAr feedback] Revert all changes in unsupported algorithms
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3 warnings
build (ubuntu:20.04)
succeeded Jan 24, 2025 in 1h 12m 13s