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Pinv velocity solver sigma output #619

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Job	Run time
Industrial CI - noetic	9s
Build (ubuntu-20.04, Debug, gcc, 3.8)	1m 34s
Build (ubuntu-20.04, Debug, clang, 3.8)	1m 33s
Build (ubuntu-20.04, Release, gcc, 3.8)	1m 32s
Build (ubuntu-20.04, Release, clang, 3.8)	1m 44s
Build (ubuntu-22.04, Debug, gcc, 3.10)	1m 51s
Build (ubuntu-22.04, Debug, clang, 3.10)	1m 39s
Build (ubuntu-22.04, Release, gcc, 3.10)	1m 45s
Build (ubuntu-22.04, Release, clang, 3.10)	2m 16s
Build (ubuntu-20.04, Release, gcc, 3.9)	1m 32s
Build (ubuntu-20.04, Release, gcc, 3.10)	1m 30s
Build (ubuntu-20.04, Release, gcc, 3.11)	1m 30s
Build (ubuntu-22.04, Release, gcc, 3.11)	1m 48s
	20m 23s