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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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Codacy Production / Codacy Static Code Analysis required action Jan 24, 2025 in 0s

1 new issue (0 max.) of at least minor severity.

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