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I would not be worried at all.
Getting your knee popped in just casual rolling is no big deal. It happens frequently enough to me in my joints that I don't really notice or care very much.
If you are in a heel hook or something and hear a pop, that usually means damage. Your knee will be swollen up a lot and hurt quite a bit afterwards.
However, if you are just rolling and hear a pop, it's usually just the joint cracking. There are lots of things that can cause it to crack, and if you don't have any pain or swelling, it's not a big deal.
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CMU Grappling Club
http://www.andrew.cmu.edu/org/cmu-grappling/
Tony Passos BJJ
http://www.pfmacenter.com/
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