robogym/assets/xmls/rubik/rubik_perpendicular_vision.xml [120:408]:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
                <joint name="cubelet:driver:pos_z" type="hinge" pos="0 0 0" axis="0 0 1"/>
            </body>

            <!-- 20 "moveable" cubelets -->
            <body name="body:neg_x_pos_y">
                <body name="cubelet:neg_x_pos_y" pos="-0.01905 0.01905 0.0">
                    <!-- Red/Blue -->
                    <geom name="cubelet:neg_x_pos_y" class="cubelet" />
                    <geom name="sticker:neg_x_pos_y_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_y_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:neg_x_pos_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_y" type="slide" pos="0 0 0" axis="-1 1 0" class="slide"/>
            </body>

            <body name="body:neg_x_pos_y_pos_z">
                <!-- Red/Blue/Yellow -->
                <body name="cubelet:neg_x_pos_y_pos_z"  pos="-0.01905 0.01905 0.01905">
                    <geom name="cubelet:neg_x_pos_y_pos_z" class="cubelet" />
                    <geom name="sticker:neg_x_pos_y_pos_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_y_pos_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:neg_x_pos_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>
                <joint name="cubelet:rotx:neg_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_y_pos_z" type="slide" pos="0 0 0" axis="-1 1 1" class="slide"/>
            </body>

            <body name="body:neg_x_pos_y_neg_z">
                <!-- Red/Blue/White -->
                <body name="cubelet:neg_x_pos_y_neg_z" pos="-0.01905 0.01905 -0.01905">
                    <geom name="cubelet:neg_x_pos_y_neg_z" class="cubelet" />
                    <geom name="sticker:neg_x_pos_y_neg_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_y_neg_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:neg_x_pos_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_y_neg_z" type="slide" pos="0 0 0" axis="-1 1 -1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_y_pos_z" >
                <!-- Red/Green/Yellow -->
                <body name="cubelet:neg_x_neg_y_pos_z" pos="-0.01905 -0.01905 0.01905">
                    <geom name="cubelet:neg_x_neg_y_pos_z" class="cubelet" />
                    <geom name="sticker:neg_x_neg_y_pos_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_y_pos_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_x_neg_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_y_pos_z" type="slide" pos="0 0 0" axis="-1 -1 1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_y_neg_z">
                <!-- Red/Green/White -->
                <body name="cubelet:neg_x_neg_y_neg_z" pos="-0.01905 -0.01905 -0.01905">
                    <geom name="cubelet:neg_x_neg_y_neg_z" class="cubelet"/>
                    <geom name="sticker:neg_x_neg_y_neg_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_y_neg_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_x_neg_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_y_neg_z" type="slide" pos="0 0 0" axis="-1 -1 -1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_z">
                <!-- Red/White -->
                <body name="cubelet:neg_x_neg_z" pos="-0.01905 0.0 -0.01905">
                    <geom name="cubelet:neg_x_neg_z" class="cubelet" />
                    <geom name="sticker:neg_x_neg_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_z" type="slide" pos="0 0 0" axis="-1 0 -1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_y">
                <!-- Red/Green -->
                <body name="cubelet:neg_x_neg_y" pos="-0.01905 -0.01905 0.0">
                    <geom name="cubelet:neg_x_neg_y" class="cubelet" />
                    <geom name="sticker:neg_x_neg_y_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_y_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_y" type="slide" pos="0 0 0" axis="-1 -1 0" class="slide"/>
            </body>

            <body name="body:neg_x_pos_z">
                <!-- Red/Yellow -->
                <body name="cubelet:neg_x_pos_z" pos="-0.01905 0.0 0.01905">
                    <geom name="cubelet:neg_x_pos_z" class="cubelet" />
                    <geom name="sticker:neg_x_pos_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_z" type="slide" pos="0 0 0" axis="-1 0 1" class="slide"/>
            </body>

            <body name="body:pos_x_neg_z">
                <!-- Orange/White -->
                <body name="cubelet:pos_x_neg_z" pos="0.01905 0.0 -0.01905">
                    <geom name="cubelet:pos_x_neg_z" class="cubelet" />
                    <geom name="sticker:pos_x_neg_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_z" type="slide" pos="0 0 0" axis="1 0 -1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_z">
                <!-- Orange/Yellow -->
                <body name="cubelet:pos_x_pos_z" pos="0.01905 0.0 0.01905">
                    <geom name="cubelet:pos_x_pos_z" class="cubelet" />
                    <geom name="sticker:pos_x_pos_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_z" type="slide" pos="0 0 0" axis="1 0 1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_y">
                <!-- Orange/Blue -->
                <body name="cubelet:pos_x_pos_y" pos="0.01905 0.01905 0.0">
                    <geom name="cubelet:pos_x_pos_y" class="cubelet" />
                    <geom name="sticker:pos_x_pos_y_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_y_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_y" type="slide" pos="0 0 0" axis="1 1 0" class="slide"/>
            </body>

            <body name="body:pos_x_neg_y">
                <!-- Orange/Green -->
                <body name="cubelet:pos_x_neg_y" pos="0.01905 -0.01905 0.0" >
                    <geom name="cubelet:pos_x_neg_y" class="cubelet" />
                    <geom name="sticker:pos_x_neg_y_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_y_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_y" type="slide" pos="0 0 0" axis="1 -1 0" class="slide"/>
            </body>

            <body name="body:pos_x_neg_y_neg_z">
                <!-- Orange/Green/White -->
                <body name="cubelet:pos_x_neg_y_neg_z" pos="0.01905 -0.01905 -0.01905">
                    <geom name="cubelet:pos_x_neg_y_neg_z" class="cubelet" />
                    <geom name="sticker:pos_x_neg_y_neg_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_y_neg_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:pos_x_neg_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_y_neg_z" type="slide" pos="0 0 0" axis="1 -1 -1" class="slide"/>
            </body>

            <body name="body:pos_x_neg_y_pos_z">
                <!-- Orange/Green/Yellow -->
                <body name="cubelet:pos_x_neg_y_pos_z" pos="0.01905 -0.01905 0.01905">
                    <geom name="cubelet:pos_x_neg_y_pos_z" class="cubelet" />
                    <geom name="sticker:pos_x_neg_y_pos_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_y_pos_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:pos_x_neg_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_y_pos_z" type="slide" pos="0 0 0" axis="1 -1 1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_y_neg_z">
                <!-- Orange/Blue/White -->
                <body name="cubelet:pos_x_pos_y_neg_z" pos="0.01905 0.01905 -0.01905">
                    <geom name="cubelet:pos_x_pos_y_neg_z" class="cubelet" />
                    <geom name="sticker:pos_x_pos_y_neg_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_y_neg_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_x_pos_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_y_neg_z" type="slide" pos="0 0 0" axis="1 1 -1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_y_pos_z">
                <!-- Orange/Blue/Yellow -->
                <body name="cubelet:pos_x_pos_y_pos_z" pos="0.01905 0.01905 0.01905">
                    <geom name="cubelet:pos_x_pos_y_pos_z" class="cubelet" />
                    <geom name="sticker:pos_x_pos_y_pos_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_y_pos_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_x_pos_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_y_pos_z" type="slide" pos="0 0 0" axis="1 1 1" class="slide"/>
            </body>

            <body name="body:neg_y_neg_z">
                <!-- Green/White -->
                <body name="cubelet:neg_y_neg_z" pos="0.0 -0.01905 -0.01905">
                    <geom name="cubelet:neg_y_neg_z" class="cubelet" />
                    <geom name="sticker:neg_y_neg_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_y_neg_z" type="slide" pos="0 0 0" axis="0 -1 -1" class="slide"/>
            </body>

            <body name="body:neg_y_pos_z">
                <!-- Green/Yellow -->
                <body name="cubelet:neg_y_pos_z" pos="0.0 -0.01905 0.01905">
                    <geom name="cubelet:neg_y_pos_z" class="cubelet" />
                    <geom name="sticker:neg_y_pos_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:neg_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_y_pos_z" type="slide" pos="0 0 0" axis="0 -1 1" class="slide"/>
            </body>

            <body name="body:pos_y_neg_z">
                <!-- Blue/White -->
                <body name="cubelet:pos_y_neg_z" pos="0.0 0.01905 -0.01905">
                    <geom name="cubelet:pos_y_neg_z" class="cubelet" />
                    <geom name="sticker:pos_y_neg_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_y_neg_z" type="slide" pos="0 0 0" axis="0 1 -1" class="slide"/>
            </body>

            <body name="body:pos_y_pos_z">
                <!-- Blue/Yellow -->
                <body name="cubelet:pos_y_pos_z" pos="0.0 0.01905 0.01905">
                    <geom name="cubelet:pos_y_pos_z" class="cubelet" />
                    <geom name="sticker:pos_y_pos_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_y_pos_z" type="slide" pos="0 0 0" axis="0 1 1" class="slide"/>
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robogym/assets/xmls/rubik/rubik_perpendicular_vision_corner_cutoff.xml [127:415]:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
                <joint name="cubelet:driver:pos_z" type="hinge" pos="0 0 0" axis="0 0 1"/>
            </body>

            <!-- 20 "moveable" cubelets -->
            <body name="body:neg_x_pos_y">
                <body name="cubelet:neg_x_pos_y" pos="-0.01905 0.01905 0.0">
                    <!-- Red/Blue -->
                    <geom name="cubelet:neg_x_pos_y" class="cubelet" />
                    <geom name="sticker:neg_x_pos_y_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_y_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:neg_x_pos_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_y" type="slide" pos="0 0 0" axis="-1 1 0" class="slide"/>
            </body>

            <body name="body:neg_x_pos_y_pos_z">
                <!-- Red/Blue/Yellow -->
                <body name="cubelet:neg_x_pos_y_pos_z"  pos="-0.01905 0.01905 0.01905">
                    <geom name="cubelet:neg_x_pos_y_pos_z" class="cubelet" />
                    <geom name="sticker:neg_x_pos_y_pos_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_y_pos_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:neg_x_pos_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>
                <joint name="cubelet:rotx:neg_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_y_pos_z" type="slide" pos="0 0 0" axis="-1 1 1" class="slide"/>
            </body>

            <body name="body:neg_x_pos_y_neg_z">
                <!-- Red/Blue/White -->
                <body name="cubelet:neg_x_pos_y_neg_z" pos="-0.01905 0.01905 -0.01905">
                    <geom name="cubelet:neg_x_pos_y_neg_z" class="cubelet" />
                    <geom name="sticker:neg_x_pos_y_neg_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_y_neg_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:neg_x_pos_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_y_neg_z" type="slide" pos="0 0 0" axis="-1 1 -1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_y_pos_z" >
                <!-- Red/Green/Yellow -->
                <body name="cubelet:neg_x_neg_y_pos_z" pos="-0.01905 -0.01905 0.01905">
                    <geom name="cubelet:neg_x_neg_y_pos_z" class="cubelet" />
                    <geom name="sticker:neg_x_neg_y_pos_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_y_pos_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_x_neg_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_y_pos_z" type="slide" pos="0 0 0" axis="-1 -1 1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_y_neg_z">
                <!-- Red/Green/White -->
                <body name="cubelet:neg_x_neg_y_neg_z" pos="-0.01905 -0.01905 -0.01905">
                    <geom name="cubelet:neg_x_neg_y_neg_z" class="cubelet"/>
                    <geom name="sticker:neg_x_neg_y_neg_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_y_neg_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_x_neg_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_y_neg_z" type="slide" pos="0 0 0" axis="-1 -1 -1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_z">
                <!-- Red/White -->
                <body name="cubelet:neg_x_neg_z" pos="-0.01905 0.0 -0.01905">
                    <geom name="cubelet:neg_x_neg_z" class="cubelet" />
                    <geom name="sticker:neg_x_neg_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_z" type="slide" pos="0 0 0" axis="-1 0 -1" class="slide"/>
            </body>

            <body name="body:neg_x_neg_y">
                <!-- Red/Green -->
                <body name="cubelet:neg_x_neg_y" pos="-0.01905 -0.01905 0.0">
                    <geom name="cubelet:neg_x_neg_y" class="cubelet" />
                    <geom name="sticker:neg_x_neg_y_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_neg_y_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:neg_x_neg_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_neg_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_neg_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_neg_y" type="slide" pos="0 0 0" axis="-1 -1 0" class="slide"/>
            </body>

            <body name="body:neg_x_pos_z">
                <!-- Red/Yellow -->
                <body name="cubelet:neg_x_pos_z" pos="-0.01905 0.0 0.01905">
                    <geom name="cubelet:neg_x_pos_z" class="cubelet" />
                    <geom name="sticker:neg_x_pos_z_R" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0" />
                    <geom name="sticker:neg_x_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:neg_x_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_x_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_x_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_x_pos_z" type="slide" pos="0 0 0" axis="-1 0 1" class="slide"/>
            </body>

            <body name="body:pos_x_neg_z">
                <!-- Orange/White -->
                <body name="cubelet:pos_x_neg_z" pos="0.01905 0.0 -0.01905">
                    <geom name="cubelet:pos_x_neg_z" class="cubelet" />
                    <geom name="sticker:pos_x_neg_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_z" type="slide" pos="0 0 0" axis="1 0 -1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_z">
                <!-- Orange/Yellow -->
                <body name="cubelet:pos_x_pos_z" pos="0.01905 0.0 0.01905">
                    <geom name="cubelet:pos_x_pos_z" class="cubelet" />
                    <geom name="sticker:pos_x_pos_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_z" type="slide" pos="0 0 0" axis="1 0 1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_y">
                <!-- Orange/Blue -->
                <body name="cubelet:pos_x_pos_y" pos="0.01905 0.01905 0.0">
                    <geom name="cubelet:pos_x_pos_y" class="cubelet" />
                    <geom name="sticker:pos_x_pos_y_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_y_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_y" type="slide" pos="0 0 0" axis="1 1 0" class="slide"/>
            </body>

            <body name="body:pos_x_neg_y">
                <!-- Orange/Green -->
                <body name="cubelet:pos_x_neg_y" pos="0.01905 -0.01905 0.0" >
                    <geom name="cubelet:pos_x_neg_y" class="cubelet" />
                    <geom name="sticker:pos_x_neg_y_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_y_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_y"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_y"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_y"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_y" type="slide" pos="0 0 0" axis="1 -1 0" class="slide"/>
            </body>

            <body name="body:pos_x_neg_y_neg_z">
                <!-- Orange/Green/White -->
                <body name="cubelet:pos_x_neg_y_neg_z" pos="0.01905 -0.01905 -0.01905">
                    <geom name="cubelet:pos_x_neg_y_neg_z" class="cubelet" />
                    <geom name="sticker:pos_x_neg_y_neg_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_y_neg_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:pos_x_neg_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_y_neg_z" type="slide" pos="0 0 0" axis="1 -1 -1" class="slide"/>
            </body>

            <body name="body:pos_x_neg_y_pos_z">
                <!-- Orange/Green/Yellow -->
                <body name="cubelet:pos_x_neg_y_pos_z" pos="0.01905 -0.01905 0.01905">
                    <geom name="cubelet:pos_x_neg_y_pos_z" class="cubelet" />
                    <geom name="sticker:pos_x_neg_y_pos_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_neg_y_pos_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:pos_x_neg_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_neg_y_pos_z" type="slide" pos="0 0 0" axis="1 -1 1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_y_neg_z">
                <!-- Orange/Blue/White -->
                <body name="cubelet:pos_x_pos_y_neg_z" pos="0.01905 0.01905 -0.01905">
                    <geom name="cubelet:pos_x_pos_y_neg_z" class="cubelet" />
                    <geom name="sticker:pos_x_pos_y_neg_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_y_neg_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_x_pos_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_y_neg_z" type="slide" pos="0 0 0" axis="1 1 -1" class="slide"/>
            </body>

            <body name="body:pos_x_pos_y_pos_z">
                <!-- Orange/Blue/Yellow -->
                <body name="cubelet:pos_x_pos_y_pos_z" pos="0.01905 0.01905 0.01905">
                    <geom name="cubelet:pos_x_pos_y_pos_z" class="cubelet" />
                    <geom name="sticker:pos_x_pos_y_pos_z_O" class="sticker" material="sticker_O" size="0.0001 0.008 0.008" pos="0.01 0.0 0.0" />
                    <geom name="sticker:pos_x_pos_y_pos_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_x_pos_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_x_pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_x_pos_y_pos_z" type="slide" pos="0 0 0" axis="1 1 1" class="slide"/>
            </body>

            <body name="body:neg_y_neg_z">
                <!-- Green/White -->
                <body name="cubelet:neg_y_neg_z" pos="0.0 -0.01905 -0.01905">
                    <geom name="cubelet:neg_y_neg_z" class="cubelet" />
                    <geom name="sticker:neg_y_neg_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:neg_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_y_neg_z" type="slide" pos="0 0 0" axis="0 -1 -1" class="slide"/>
            </body>

            <body name="body:neg_y_pos_z">
                <!-- Green/Yellow -->
                <body name="cubelet:neg_y_pos_z" pos="0.0 -0.01905 0.01905">
                    <geom name="cubelet:neg_y_pos_z" class="cubelet" />
                    <geom name="sticker:neg_y_pos_z_G" class="sticker" material="sticker_G" size="0.008 0.0001 0.008" pos="0.0 -0.01 0.0" />
                    <geom name="sticker:neg_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:neg_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:neg_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:neg_y_pos_z" type="slide" pos="0 0 0" axis="0 -1 1" class="slide"/>
            </body>

            <body name="body:pos_y_neg_z">
                <!-- Blue/White -->
                <body name="cubelet:pos_y_neg_z" pos="0.0 0.01905 -0.01905">
                    <geom name="cubelet:pos_y_neg_z" class="cubelet" />
                    <geom name="sticker:pos_y_neg_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_y_neg_z_W" class="sticker" material="sticker_W" size="0.008 0.008 0.0001" pos="0.0 0.0 -0.01" />
                </body>

                <joint name="cubelet:rotx:pos_y_neg_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_y_neg_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_y_neg_z" type="slide" pos="0 0 0" axis="0 1 -1" class="slide"/>
            </body>

            <body name="body:pos_y_pos_z">
                <!-- Blue/Yellow -->
                <body name="cubelet:pos_y_pos_z" pos="0.0 0.01905 0.01905">
                    <geom name="cubelet:pos_y_pos_z" class="cubelet" />
                    <geom name="sticker:pos_y_pos_z_B" class="sticker" material="sticker_B" size="0.008 0.0001 0.008" pos="0.0 0.01 0.0" />
                    <geom name="sticker:pos_y_pos_z_Y" class="sticker" material="sticker_Y" size="0.008 0.008 0.0001" pos="0.0 0.0 0.01" />
                </body>

                <joint name="cubelet:rotx:pos_y_pos_z"   type="hinge" pos="0 0 0" axis="1 0 0"/>
                <joint name="cubelet:roty:pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 1 0"/>
                <joint name="cubelet:rotz:pos_y_pos_z"   type="hinge" pos="0 0 0" axis="0 0 1"/>
                <joint name="cubelet:spring:pos_y_pos_z" type="slide" pos="0 0 0" axis="0 1 1" class="slide"/>
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