I think some features in Yishin Li's code would be an interesting addition to 
linuxcnc, in particular those:

> ..Just want to let you know that we've implemented NURBS motion and S-Curve 
> velocity profile for TRAJ and JOGGING on our git repository at 
> https://github.com/artek/emc2


I plan to add https://github.com/artek/emc2:master as branch joints_axes3_arais 
to git.linuxcnc.org, as a start to bring it back into the fold
 
Any issue with that?

- Michael



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