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  ______    _____    _    _      ___     ______   
 /_____//  |  ___|| | || | ||   / _ \\  |      \\ 
 `____ `   | ||__   | || | ||  / //\ \\ |  --  // 
 /___//    | ||__   | \\_/ || |  ___  |||  --  \\ 
 `__ `     |_____||  \____//  |_||  |_|||______// 
 /_//      `-----`    `---`   `-`   `-` `------`  
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Text this: Elastic Multibody Dynamics