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Kinematic trajectory recording + post-hoc video replay (#296) - #297

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sibocw wants to merge 11 commits into
dev-v2.1.1from
pseudo-rendering
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Kinematic trajectory recording + post-hoc video replay (#296)#297
sibocw wants to merge 11 commits into
dev-v2.1.1from
pseudo-rendering

wip - refactor rendering

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