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I generally don't like the coding style of the robot client (and I generally don't say it out loud). It might be okay for self-development, but it is not team-friendly at all since the majority of functions do not have a doc string to explain what this function does.
sr_manipulation/sr_moveit2_utils/sr_moveit2_utils/robot_client_node.py
Line 619 in 1e54bc9
Only a variable of the velocity factor is defined.
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