Yuval Tassa
2607e67f8d
PiperOrigin-RevId: 510422404 Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
514 lines
16 KiB
XML
514 lines
16 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Humanoid and 100 objects">
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<!-- Degree of Freedom: 627
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Actuators: 21
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Humanoid and 100 free primitive objects.
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-->
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<include file="humanoid_body.xml"/>
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<option timestep="0.005"/>
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<size memory="100M"/>
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<default>
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<geom solimp=".9 .9 .01"/>
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<default class="object1">
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<geom type="capsule" material="object1" size="0.1 0.05"/>
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</default>
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<default class="object2">
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<geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
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</default>
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<default class="object3">
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<geom type="box" material="object3" size="0.15 0.1 0.05"/>
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</default>
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<default class="object4">
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<geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
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</default>
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<default class="object5">
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<geom type="sphere" material="object5" size="0.1"/>
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</default>
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<default class="border">
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<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
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</default>
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<default class="borderpost">
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<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
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</default>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
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<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128"
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rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6"
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width="512" height="512"/>
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<material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"
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rgba=".7 .7 .7 1"/>
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<material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
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<material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
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<material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
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<material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
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<material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
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</asset>
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<visual>
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<quality shadowsize="4096" offsamples="8"/>
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<map znear="0.1" force="0.05"/>
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</visual>
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<statistic extent="4"/>
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<worldbody>
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<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
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<geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
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<geom class="border" fromto="-3 3 0 3 3 0" />
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<geom class="border" fromto="-3 -3 0 3 -3 0" />
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<geom class="border" fromto="3 3 0 3 -3 0" />
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<geom class="border" fromto="-3 3 0 -3 -3 0" />
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<geom class="borderpost" pos="3 3 0"/>
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<geom class="borderpost" pos="-3 3 0"/>
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<geom class="borderpost" pos="3 -3 0"/>
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<geom class="borderpost" pos="-3 -3 0"/>
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<body pos="-2 -2 1" quat="-0.632456 -0.632456 0.316228 0.316228">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -2 2" quat="-0.5547 -0.5547 0.5547 0.27735">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -2 3" quat="-0.471405 -0.471405 0.707107 0.235702">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -2 4" quat="-0.471405 -0.471405 0.707107 0.235702">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -1 1" quat="-0.755929 -0.377964 0.377964 0.377964">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -1 2" quat="-0.632456 -0.316228 0.632456 0.316228">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -1 3" quat="-0.516398 -0.258199 0.774597 0.258199">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 -1 4" quat="-0.516398 -0.258199 0.774597 0.258199">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 0 1" quat="-0.816497 0 0.408248 0.408248">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 0 2" quat="-0.666667 0 0.666667 0.333333">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 0 3" quat="-0.534522 0 0.801784 0.267261">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 0 4" quat="-0.534522 0 0.801784 0.267261">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 1 1" quat="-0.755929 0.377964 0.377964 0.377964">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 1 2" quat="-0.632456 0.316228 0.632456 0.316228">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 1 3" quat="-0.516398 0.258199 0.774597 0.258199">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 1 4" quat="-0.516398 0.258199 0.774597 0.258199">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 2 1" quat="-0.632456 0.632456 0.316228 0.316228">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 2 2" quat="-0.5547 0.5547 0.5547 0.27735">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 2 3" quat="-0.471405 0.471405 0.707107 0.235702">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-2 2 4" quat="-0.471405 0.471405 0.707107 0.235702">
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<freejoint/>
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<geom class="object1"/>
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</body>
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<body pos="-1 -2 1" quat="-0.377964 -0.755929 0.377964 0.377964">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -2 2" quat="-0.316228 -0.632456 0.632456 0.316228">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -2 3" quat="-0.258199 -0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -2 4" quat="-0.258199 -0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -1 1" quat="-0.5 -0.5 0.5 0.5">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -1 2" quat="-0.377964 -0.377964 0.755929 0.377964">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -1 3" quat="-0.288675 -0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 -1 4" quat="-0.288675 -0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 0 1" quat="-0.57735 0 0.57735 0.57735">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 0 2" quat="-0.408248 0 0.816497 0.408248">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 0 3" quat="-0.301511 0 0.904534 0.301511">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 0 4" quat="-0.301511 0 0.904534 0.301511">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 1 1" quat="-0.5 0.5 0.5 0.5">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 1 2" quat="-0.377964 0.377964 0.755929 0.377964">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 1 3" quat="-0.288675 0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 1 4" quat="-0.288675 0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 2 1" quat="-0.377964 0.755929 0.377964 0.377964">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 2 2" quat="-0.316228 0.632456 0.632456 0.316228">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 2 3" quat="-0.258199 0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="-1 2 4" quat="-0.258199 0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object2"/>
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</body>
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<body pos="0 -2 1" quat="0 -0.816497 0.408248 0.408248">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -2 2" quat="0 -0.666667 0.666667 0.333333">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -2 3" quat="0 -0.534522 0.801784 0.267261">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -2 4" quat="0 -0.534522 0.801784 0.267261">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -1 1" quat="0 -0.57735 0.57735 0.57735">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -1 2" quat="0 -0.408248 0.816497 0.408248">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -1 3" quat="0 -0.301511 0.904534 0.301511">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 -1 4" quat="0 -0.301511 0.904534 0.301511">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0.3 0 1" quat="0 0 0.707107 0.707107">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 0 2" quat="0 0 0.894427 0.447214">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 0 3" quat="0 0 0.948683 0.316228">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 0 4" quat="0 0 0.948683 0.316228">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 1 1" quat="0 0.57735 0.57735 0.57735">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 1 2" quat="0 0.408248 0.816497 0.408248">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 1 3" quat="0 0.301511 0.904534 0.301511">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 1 4" quat="0 0.301511 0.904534 0.301511">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 2 1" quat="0 0.816497 0.408248 0.408248">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 2 2" quat="0 0.666667 0.666667 0.333333">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 2 3" quat="0 0.534522 0.801784 0.267261">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="0 2 4" quat="0 0.534522 0.801784 0.267261">
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<freejoint/>
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<geom class="object3"/>
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</body>
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<body pos="1 -2 1" quat="0.377964 -0.755929 0.377964 0.377964">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -2 2" quat="0.316228 -0.632456 0.632456 0.316228">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -2 3" quat="0.258199 -0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -2 4" quat="0.258199 -0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -1 1" quat="0.5 -0.5 0.5 0.5">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -1 2" quat="0.377964 -0.377964 0.755929 0.377964">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -1 3" quat="0.288675 -0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 -1 4" quat="0.288675 -0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 0 1" quat="0.57735 0 0.57735 0.57735">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 0 2" quat="0.408248 0 0.816497 0.408248">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 0 3" quat="0.301511 0 0.904534 0.301511">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 0 4" quat="0.301511 0 0.904534 0.301511">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 1 1" quat="0.5 0.5 0.5 0.5">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 1 2" quat="0.377964 0.377964 0.755929 0.377964">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 1 3" quat="0.288675 0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 1 4" quat="0.288675 0.288675 0.866025 0.288675">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 2 1" quat="0.377964 0.755929 0.377964 0.377964">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 2 2" quat="0.316228 0.632456 0.632456 0.316228">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 2 3" quat="0.258199 0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="1 2 4" quat="0.258199 0.516398 0.774597 0.258199">
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<freejoint/>
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<geom class="object4"/>
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</body>
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<body pos="2 -2 1" quat="0.632456 -0.632456 0.316228 0.316228">
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<freejoint/>
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<geom class="object5"/>
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</body>
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<body pos="2 -2 2" quat="0.5547 -0.5547 0.5547 0.27735">
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<freejoint/>
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<geom class="object5"/>
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</body>
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<body pos="2 -2 3" quat="0.471405 -0.471405 0.707107 0.235702">
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<freejoint/>
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<geom class="object5"/>
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</body>
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<body pos="2 -2 4" quat="0.471405 -0.471405 0.707107 0.235702">
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<freejoint/>
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<geom class="object5"/>
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</body>
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|
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<body pos="2 -1 1" quat="0.755929 -0.377964 0.377964 0.377964">
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<freejoint/>
|
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<geom class="object5"/>
|
|
</body>
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<body pos="2 -1 2" quat="0.632456 -0.316228 0.632456 0.316228">
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|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
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<body pos="2 -1 3" quat="0.516398 -0.258199 0.774597 0.258199">
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|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 -1 4" quat="0.516398 -0.258199 0.774597 0.258199">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
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|
|
|
<body pos="2 0 1" quat="0.816497 0 0.408248 0.408248">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 0 2" quat="0.666667 0 0.666667 0.333333">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 0 3" quat="0.534522 0 0.801784 0.267261">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 0 4" quat="0.534522 0 0.801784 0.267261">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
|
|
<body pos="2 1 1" quat="0.755929 0.377964 0.377964 0.377964">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 1 2" quat="0.632456 0.316228 0.632456 0.316228">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 1 3" quat="0.516398 0.258199 0.774597 0.258199">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 1 4" quat="0.516398 0.258199 0.774597 0.258199">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
|
|
<body pos="2 2 1" quat="0.632456 0.632456 0.316228 0.316228">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 2 2" quat="0.5547 0.5547 0.5547 0.27735">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 2 3" quat="0.471405 0.471405 0.707107 0.235702">
|
|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
|
|
<body pos="2 2 4" quat="0.471405 0.471405 0.707107 0.235702">
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|
<freejoint/>
|
|
<geom class="object5"/>
|
|
</body>
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|
|
|
</worldbody>
|
|
</mujoco>
|