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### MONITOR POINTS---------------------------------------------------------

# up vector monitor
# points (lower torso):
mon 0,1.1,0#1 - origin
mon 0,1.3,0#2 - "up"
mon 0,1.1,-.05#3 - "right"

# swing/stance COM points:
mon 0.03348,0,0.0837#4 - left mid-foot
mon 0.03348,0,-0.0837#5 - right mid-foot

#left foot:
mon -0.10,0,0.05#6 - inside ball of foot
mon 0.07,0,0.05#7 - inside heel
mon 0.07,0,0.13#8 - outside heel
mon -0.10,0,0.13#9 - little toe

#right foot:
mon -0.10,0,-0.05# 10 - inside ball of foot
mon 0.07,0,-0.05# 11 - inside heel
mon 0.07,0,-0.13# 12 - outside heel
mon -0.10,0,-0.13# 13 - little toe

mon 0.00478,0.5197,0.09091# 14 - left knee
mon 0.00478,0.5197,-0.09091# 15 - right knee

mon 0.02,1.80,0# 16 - head

# pelvis-based up vector &
# torso servo mon points:
mon 0,0.95,0# 17 - origin
mon 0,0.97,0# 18 - "up"
mon 0,0.95,-.02# 19 - "right"
mon 0,0.95,+.02# 20 - servo axis (local)
mon 0,1.1,+.05# 21 - torso axis

set up_mon 1,2,3# up vect mon points
set cofm_mon 5,4# initial swing,stance feet