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* seems overkill * not too extreme * make linter happy * try adding accel scale * some tweaks * Revert "some tweaks" This reverts commit 58cec365da650fa653dee91c7a5cbe37b8289908. * Revert "Revert "some tweaks"" This reverts commit 517108b5b676b4ab31bba92a9eb59afa1b3d3faf. * stability concerns * this works * still works * ugh sympy is weird, still may be not correct * comment clean * comment * clarify * fix * unused