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

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Text this: Design centering using momentum based CoG