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kpd hinge 12:0 1001.5# left ankle pitch (z)
kpd hinge 12:11001.5# left ankle roll (x)
### MONITOR POINTS---------------------------------------------------------
# right foot
mon -3.8,-10.4,-3.9#1 - right/back
mon -3.8,-10.4,-1.1#2 - left/back
mon -7.6,-10.4,-3.9#3 - right/front
mon -7.6,-10.4,-1.1#4 - left/back
# left foot
mon -3.8,-10.4,3.9#5 - left/back
mon -3.8,-10.4,1.1#6 - right/back
mon -7.6,-10.4,3.9#7 - left/front
mon -7.6,-10.4,1.1#8 - right/front
# falling & up vect mons:
mon -5.5,2,0#9 - nose
mon 1,2,0# 10 - up vect origin
mon 1,3,0# 11 - up vect "up"
mon 2,2,0# 12 - up vect "right"
mon 1,2,0# 13 - body
# swing/stance COM points:
mon -4.8,-10.4,-2.5# 14 - right foot COM mon
mon -4.8,-10.4,2.5# 15 - left foot COM mon
set up_mon 10,11,13# up vect monitor points
set cofm_mon 15,14# initial swing,stance feet
kpd mon 14 0 0# no gnd force on cofm_mon
kpd mon 15 0 0# no gnd force on cofm_mon
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![[CONVERTED BY MYRMIDON]](Imgs/convBy.GIF)