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

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Text this: FLEXIBLE ROBOT CONTROL HIERARCHY.