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* Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu> (cherry picked from commit 749c5ae) Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
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