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  ______     ___      _____     ______            
 /_   _//   / _ \\   |__  //   /_   _//     ___   
   | ||    / //\ \\    / //     -| ||-     /   || 
  _| ||   |  ___  ||  / //__    _| ||_    | [] || 
 /__//    |_||  |_|| /_____||  /_____//    \__ || 
 `--`     `-`   `-`  `-----`   `-----`      -|_|| 
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Text this: Design centering using momentum based CoG