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Backport of Add explanation about IK plugins for servo (#474) to humble #477

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Backport of Add explanation about IK plugins for servo (#474) to humble #477

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Commits on Jul 25, 2022

  1. Add explanation about IK plugins for servo (#474) 

    * Add explanation to servo tutorial for how to configure an IK plugin for servo

* Make bio_ik suggestion

* fix formatting

Co-authored-by: AndyZe <andyz@utexas.edu>
(cherry picked from commit c7a0cb3)
    @wyattrees @mergify
    wyattrees authored and mergify[bot] committed Jul 25, 2022
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  2. Adding moveit2 to CI's upstream.repos

    @wyattrees
    wyattrees committed Jul 25, 2022
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