gosh it turned out I had to investigate cause of issues for 8 hours or more only because rinterp has not worked as expectedly -> has hysteresis thingy of rinterp.  


gosh even i thought i do not have to implement kinematics for this multi armed thingy.  I forgetting about scenegraph transform matrices logic made me lose some time alike 8 hours trying to fix but no kind of RCA found but what actually turned out issues were caused by rinterp which i removed from.



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