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I believe it had at least a few interesting points, therefore I'm leaving the link here, in the new repository, in case we want to recover some of the work from this PR.
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This PR was closed in a rush after some technical disagreement.
robotology/yarp#1958
I believe it had at least a few interesting points, therefore I'm leaving the link here, in the new repository, in case we want to recover some of the work from this PR.
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