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TARGET POSITION
MOTION PLANNER
STEP RUNNER
SAMPLED
INTERVALS
LANE 1: CONTINUOUS TARGET PATH
LANE 2: PLANNER FRAMES & DISCRETE INTERVALS
FRAME 1 (v=0.04)
FRAME 2 (v=0.02)
FRAME 3 (v=0.05)
FRAME 4 (v=0.01)
LANE 3: ACTUAL STEP PULSES EMITTED
PHASE
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