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 _____       ___      ____       ___    __    __  
|  __ \\    / _ \\   |  _ \\    / _ \\  \ \\ / // 
| |  \ ||  / //\ \\  | |_| ||  / //\ \\  \ \/ //  
| |__/ || |  ___  || | .  //  |  ___  ||  \  //   
|_____//  |_||  |_|| |_|\_\\  |_||  |_||   \//    
 -----`   `-`   `-`  `-` --`  `-`   `-`     `

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Text this: A coordination-based CPG structure for 3D walking control