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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -678,6 +678,11 @@
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-rotation-shim-controller.html#example">Example</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html">Graceful Motion Controller</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#graceful-motion-controller-parameters">Graceful Motion Controller Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-graceful-motion-controller.html#example">Example</a></li>
+</ul>
+</li>
 <li class="toctree-l2"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html">Map Server / Saver</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-saver-parameters">Map Saver Parameters</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../configuration/packages/configuring-map-server.html#map-server-parameters">Map Server Parameters</a></li>
@@ -954,6 +959,7 @@
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#global-frame-removed-from-2-bt-nodes">Global Frame Removed from 2 BT Nodes</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#introduction-of-costmapupdate-msg">Introduction of <code class="docutils literal notranslate"><span class="pre">CostmapUpdate.msg</span></code></a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#full-stack-uses-node-clocks">Full Stack Uses Node Clocks</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Iron.html#new-graceful-motion-controller">New Graceful Motion Controller</a></li>
 </ul>
 </li>
 </ul>