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State 1: Move TC's right foot Set TC's right foot position on MC's right shoulder Set COM projection of TC over TC's left foot SP Set COM projection of MC over MC's two feet SP Set COM projection of BC over BC's two feet SP Set rest pose State 2: Move TC's COM Set COM projection of TC over TC's right foot SP Set COM projection of MC over MC's two feet SP Set COM projection of BC over BC's two feet SP Set rest pose State 3: Move TC's left foot Set TC's left foot position on MC's left shoulder Set COM projection of TC over TC's rightfoot SP Set COM projection of MC over MC's two feet SP Set COM projection of BC over BC's two feet SP Set rest pose State 4: Move MC's right foot Set MC's right foot position on BC's right palm Set COM proj. of TC over TC's two feet SP Set COM proj. of {MC,TC} over MC's left foot SP Set COM proj. of BC over BC's two feet SP Set rest pose State 5: Move {MC,TC}'s COM Set COM projection of TC over TC's two feet SP Set COM proj. of {MC,TC} over MC's right foot SP Set COM projection of BC over BC's two feet SP Set rest pose State 6: Move MC's left foot Set MC's right left position on BC's left palm Set COM proj. of TC over TC's two feet SP Set COM proj. of {MC,TC} over MC's right foot SP Set COM proj. of BC over BC's two feet SP Set rest pose State 7: Move BC's right foot Set BC's right foot position to next footstep Set COM proj. of TC over TC's two feet SP Set COM proj. of {MC,TC} over MC's two feet SP Set COM proj. of {BC,MC,TC} over BC's left foot SP Set rest pose State 8: Move {BC,MC,TC}'s COM Set COM proj. of TC over TC's two feet SP Set COM proj. of {MC,TC} over MC's two feet SP Set COM proj. of {BC,MC,TC} over BC's right foot SP Set rest pose State 9: Move BC's left foot Set BC's left foot position on next footstep Set COM proj. of TC over TC's two feet SP Set COM proj ,
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