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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
old-commit-hash: 87bbbd4100