diff --git a/include/pinocchio/algorithm/jacobian.hxx b/include/pinocchio/algorithm/jacobian.hxx
index 69855d49e..52ea84d0f 100644
--- a/include/pinocchio/algorithm/jacobian.hxx
+++ b/include/pinocchio/algorithm/jacobian.hxx
@@ -56,17 +56,8 @@ namespace pinocchio
         else
           data.oMi[i] = data.liMi[i];
 
-<<<<<<< HEAD
-        Matrix6xLike & J_ = J.const_cast_derived();
-        jmodel.jointCols(J_) = data.oMi[i].act(jdata.S());
-=======
         Matrix6xLike & J_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J);
-<<<<<<< HEAD
-        jmodel.jointVelCols(J_) = data.oMi[i].act(jdata.S());
->>>>>>> a55d3bf7 ([EtienneAr feedback] Split jointCols jointRows and jointBLock for full and reduced system)
-=======
         jmodel.jointJacCols(J_) = data.oMi[i].act(jdata.S());
->>>>>>> 6b22ea5e ([EtienneAr feedback] Fix joint jacobians computation for mimic)
       }
     };
 
@@ -198,16 +189,8 @@ namespace pinocchio
       PINOCCHIO_CHECK_ARGUMENT_SIZE(Jout.rows(), 6);
       PINOCCHIO_CHECK_ARGUMENT_SIZE(Jout.cols(), model.nv);
 
-<<<<<<< HEAD
-      Matrix6xLikeOut & Jout_ = Jout.const_cast_derived();
-=======
       Matrix6xLikeOut & Jout_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLikeOut, Jout);
-<<<<<<< HEAD
-      Jout_.fill(0);
->>>>>>> 6b22ea5e ([EtienneAr feedback] Fix joint jacobians computation for mimic)
-=======
       Jout_.setZero();
->>>>>>> 4cc92137 (Make code compile with CppAd)
 
       typedef typename ModelTpl<Scalar, Options, JointCollectionTpl>::JointIndex JointIndex;
       typedef typename Matrix6xLikeIn::ConstColXpr ConstColXprIn;
@@ -354,17 +337,8 @@ namespace pinocchio
         data.liMi[i] = model.jointPlacements[i] * jdata.M();
         data.iMf[parent] = data.liMi[i] * data.iMf[i];
 
-<<<<<<< HEAD
-        Matrix6xLike & J_ = J.const_cast_derived();
-        jmodel.jointCols(J_) = data.iMf[i].actInv(jdata.S());
-=======
         Matrix6xLike & J_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix6xLike, J);
-<<<<<<< HEAD
-        jmodel.jointVelCols(J_) = data.iMf[i].actInv(jdata.S());
->>>>>>> a55d3bf7 ([EtienneAr feedback] Split jointCols jointRows and jointBLock for full and reduced system)
-=======
         jmodel.jointVelCols(J_) += data.iMf[i].actInv(jdata.S());
->>>>>>> 6b22ea5e ([EtienneAr feedback] Fix joint jacobians computation for mimic)
       }
     };