Yuval Tassa
fde479736e
PiperOrigin-RevId: 791227350 Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
208 lines
8.0 KiB
XML
208 lines
8.0 KiB
XML
<mujoco model="makemesh">
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<statistic meansize="1"/>
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<visual>
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<global offheight="2000" offwidth="2000"/>
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</visual>
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<asset>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat=".5 .5" texuniform="true" reflectance=".2"/>
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</asset>
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<default>
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<geom type="mesh"/>
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<camera xyaxes="1 0 0 0 2.7 1" fovy="27"/>
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<default class="s">
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<geom euler="0 0 -40"/>
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</default>
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<default class="h">
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<geom euler="-30 -50 20"/>
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</default>
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<default class="c">
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<geom euler="-20 -20 40"/>
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<mesh scale=".6 .6 .7"/>
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</default>
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<default class="ss">
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<geom euler="-30 -40 0"/>
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<mesh scale=".7 .7 .7"/>
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</default>
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<default class="st">
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<geom euler="20 -30 0"/>
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<mesh scale=".5 .5 .5"/>
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</default>
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<default class="w">
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<geom euler="-135 -60 0"/>
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<mesh scale=".7 .7 .7"/>
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</default>
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</default>
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<asset>
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<mesh name="s0" builtin="sphere" params="0"/>
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<mesh name="s1" builtin="sphere" params="1"/>
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<mesh name="s2" builtin="sphere" params="2"/>
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<mesh name="h0" builtin="hemisphere" params="0"/>
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<mesh name="h2" builtin="hemisphere" params="2"/>
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<mesh name="h4" builtin="hemisphere" params="4"/>
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<mesh name="c0" builtin="cone" params="3 1" class="c"/>
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<mesh name="c1" builtin="cone" params="5 1" class="c"/>
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<mesh name="c2" builtin="cone" params="7 1" class="c"/>
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<mesh name="c3" builtin="cone" params="3 .5" class="c"/>
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<mesh name="c4" builtin="cone" params="5 .5" class="c"/>
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<mesh name="c5" builtin="cone" params="7 .5" class="c"/>
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<mesh name="c6" builtin="cone" params="3 0" class="c"/>
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<mesh name="c7" builtin="cone" params="5 0" class="c"/>
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<mesh name="c8" builtin="cone" params="7 0" class="c"/>
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<mesh name="ss0" builtin="supersphere" params="30 .4 .4" class="ss"/>
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<mesh name="ss1" builtin="supersphere" params="30 .4 1" class="ss"/>
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<mesh name="ss2" builtin="supersphere" params="30 .4 2" class="ss"/>
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<mesh name="ss3" builtin="supersphere" params="30 1 .4" class="ss"/>
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<mesh name="ss4" builtin="supersphere" params="30 1 1" class="ss"/>
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<mesh name="ss5" builtin="supersphere" params="30 1 2" class="ss"/>
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<mesh name="ss6" builtin="supersphere" params="30 2 .4" class="ss"/>
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<mesh name="ss7" builtin="supersphere" params="30 2 1" class="ss"/>
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<mesh name="ss8" builtin="supersphere" params="30 2 2" class="ss"/>
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<mesh name="st0" builtin="supertorus" params="30 .5 .4 .4" class="st"/>
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<mesh name="st1" builtin="supertorus" params="30 .5 .4 1" class="st"/>
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<mesh name="st2" builtin="supertorus" params="30 .5 .4 2" class="st"/>
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<mesh name="st3" builtin="supertorus" params="30 .5 1 .4" class="st"/>
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<mesh name="st4" builtin="supertorus" params="30 .5 1 1" class="st"/>
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<mesh name="st5" builtin="supertorus" params="30 .5 1 2" class="st"/>
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<mesh name="st6" builtin="supertorus" params="30 .5 2 .4" class="st"/>
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<mesh name="st7" builtin="supertorus" params="30 .5 2 1" class="st"/>
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<mesh name="st8" builtin="supertorus" params="30 .5 2 2" class="st"/>
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<mesh name="w0" builtin="wedge" params="30 30 45 20 0" class="w"/>
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<mesh name="w1" builtin="wedge" params="30 30 45 45 0" class="w"/>
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<mesh name="w2" builtin="wedge" params="30 30 45 90 0" class="w"/>
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<mesh name="w3" builtin="wedge" params="30 30 90 20 0" class="w"/>
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<mesh name="w4" builtin="wedge" params="30 30 90 45 0" class="w"/>
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<mesh name="w5" builtin="wedge" params="30 30 90 90 0" class="w"/>
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<mesh name="w6" builtin="wedge" params="30 30 180 20 0" class="w"/>
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<mesh name="w7" builtin="wedge" params="30 30 180 45 0" class="w"/>
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<mesh name="w8" builtin="wedge" params="30 30 180 90 0" class="w"/>
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</asset>
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<worldbody>
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<geom name="floor" size="26 6 .05" type="plane" material="grid"/>
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<light pos="-21 1 10"/>
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<camera pos="-21 -5 15"/>
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<geom pos="-23 3 1" mesh="s0" class="s"/>
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<geom pos="-21 1 1" mesh="s1" class="s"/>
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<geom pos="-19 -1 1" mesh="s2" class="s"/>
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<site pos="-23 2 0" name="0"/>
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<site pos="-21 0 0" name="1"/>
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<site pos="-19 -2 0" name="2"/>
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<site pos="-22 -3 1" name="sphere"/>
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<light pos="-13 1 10"/>
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<camera pos="-13 -5 15"/>
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<geom pos="-15 3 1" mesh="h0" class="h"/>
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<geom pos="-13 1 1" mesh="h2" class="h"/>
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<geom pos="-11 -1 1" mesh="h4" class="h"/>
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<site pos="-15 2 0" name=" 0"/>
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<site pos="-13 0 0" name=" 2"/>
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<site pos="-11 -2 0" name=" 4"/>
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<site pos="-14 -3 1" name="hemisphere"/>
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<light pos="-5 1 10"/>
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<camera pos="-5 -5 15"/>
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<geom pos="-7 3 1" mesh="c0" class="c"/>
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<geom pos="-5 3 1" mesh="c1" class="c"/>
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<geom pos="-3 3 1" mesh="c2" class="c"/>
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<geom pos="-7 1 1" mesh="c3" class="c"/>
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<geom pos="-5 1 1" mesh="c4" class="c"/>
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<geom pos="-3 1 1" mesh="c5" class="c"/>
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<geom pos="-7 -1 1" mesh="c6" class="c"/>
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<geom pos="-5 -1 1" mesh="c7" class="c"/>
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<geom pos="-3 -1 1" mesh="c7" class="c"/>
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<site pos="-7 2 0" name="3 1"/>
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<site pos="-5 2 0" name="5 1"/>
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<site pos="-3 2 0" name="7 1"/>
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<site pos="-7 0 0" name="3 .5"/>
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<site pos="-5 0 0" name="5 .5"/>
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<site pos="-3 0 0" name="7 .5"/>
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<site pos="-7 -2 0" name="3 0"/>
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<site pos="-5 -2 0" name="5 0"/>
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<site pos="-3 -2 0" name="7 0"/>
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<site pos="-6 -3 1" name="cone"/>
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<light pos="3 1 10"/>
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<camera pos="3 -5 15"/>
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<geom pos="1 3 1" mesh="ss0" class="ss"/>
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<geom pos="3 3 1" mesh="ss1" class="ss"/>
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<geom pos="5 3 1" mesh="ss2" class="ss"/>
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<geom pos="1 1 1" mesh="ss3" class="ss"/>
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<geom pos="3 1 1" mesh="ss4" class="ss"/>
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<geom pos="5 1 1" mesh="ss5" class="ss"/>
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<geom pos="1 -1 1" mesh="ss6" class="ss"/>
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<geom pos="3 -1 1" mesh="ss7" class="ss"/>
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<geom pos="5 -1 1" mesh="ss8" class="ss"/>
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<site pos="1 2 0" name=".4 .4"/>
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<site pos="3 2 0" name=".4 1"/>
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<site pos="5 2 0" name=".4 2"/>
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<site pos="1 0 0" name=" 1 .4"/>
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<site pos="3 0 0" name=" 1 1"/>
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<site pos="5 0 0" name=" 1 2"/>
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<site pos="1 -2 0" name=" 2 .4"/>
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<site pos="3 -2 0" name=" 2 1"/>
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<site pos="5 -2 0" name=" 2 2"/>
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<site pos="2 -3 1" name="supersphere"/>
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<light pos="11 1 10"/>
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<camera pos="11 -5 15"/>
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<geom pos="9 3 1" mesh="st0" class="st"/>
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<geom pos="11 3 1" mesh="st1" class="st"/>
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<geom pos="13 3 1" mesh="st2" class="st"/>
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<geom pos="9 1 1" mesh="st3" class="st"/>
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<geom pos="11 1 1" mesh="st4" class="st"/>
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<geom pos="13 1 1" mesh="st5" class="st"/>
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<geom pos="9 -1 1" mesh="st6" class="st"/>
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<geom pos="11 -1 1" mesh="st7" class="st"/>
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<geom pos="13 -1 1" mesh="st8" class="st"/>
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<site pos="9 2 0" name=" .4 .4"/>
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<site pos="11 2 0" name=" .4 1"/>
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<site pos="13 2 0" name=" .4 2"/>
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<site pos="9 0 0" name=" 1 .4"/>
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<site pos="11 0 0" name=" 1 1"/>
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<site pos="13 0 0" name=" 1 2"/>
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<site pos="9 -2 0" name=" 2 .4"/>
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<site pos="11 -2 0" name=" 2 1"/>
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<site pos="13 -2 0" name=" 2 2"/>
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<site pos="10 -3 1" name="supertorus"/>
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<light pos="19 1 10"/>
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<camera pos="19 -5 15"/>
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<geom pos="17 3 1" mesh="w0" class="w"/>
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<geom pos="19 3 1" mesh="w1" class="w"/>
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<geom pos="21 3 1" mesh="w2" class="w"/>
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<geom pos="17 1 1" mesh="w3" class="w"/>
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<geom pos="19 1 1" mesh="w4" class="w"/>
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<geom pos="21 1 1" mesh="w5" class="w"/>
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<geom pos="17 -1 1" mesh="w6" class="w"/>
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<geom pos="19 -1 1" mesh="w7" class="w"/>
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<geom pos="21 -1 1" mesh="w8" class="w"/>
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<site pos="17 2 0" name="45 20"/>
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<site pos="19 2 0" name="45 45"/>
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<site pos="21 2 0" name="45 90"/>
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<site pos="17 0 0" name="90 20"/>
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<site pos="19 0 0" name="90 45"/>
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<site pos="21 0 0" name="90 90"/>
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<site pos="17 -2 0" name="180 20"/>
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<site pos="19 -2 0" name="180 45"/>
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<site pos="21 -2 0" name="180 90"/>
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<site pos="18 -3 1" name="wedge"/>
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</worldbody>
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</mujoco>
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