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

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