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[JTC] Set allow_nonzero_velocity_at_trajectory_end default false and rename class variables (backport #834) #56

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[JTC] Set allow_nonzero_velocity_at_trajectory_end default false and rename class variables (backport #834)

[JTC] Set allow_nonzero_velocity_at_trajectory_end default false and rename class variables (backport #834) #56

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