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Feature/joint cal updates

Amy Blank requested to merge feature/joint-cal-updates into devel

Description

Minor updates to joint calibration, plus some extra test code. A new calibration procedure will not be necessary. Notes on the testing that led to this conclusion will be available in a TR (to be created).

What to focus on

  • put content here.

Reviewers

Resources

Issues

What issues does this fix?

  • Fixes #82
Edited by Chris Woodall

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