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

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Text this: FLEXIBLE ROBOT CONTROL HIERARCHY.