robogym/assets/xmls/rubik/rubik_perpendicular_vision.xml [52:68]:
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    <worldbody>
        <body name="middle" childclass="cube" pos="0 0 0">
            <joint name="cube:tx"  class="cubemain" type="slide" axis="1 0 0" limited="false"/>
            <joint name="cube:ty"  class="cubemain" type="slide" axis="0 1 0" limited="false"/>
            <joint name="cube:tz"  class="cubemain" type="slide" axis="0 0 1" limited="false"/>
            <joint name="cube:rot" class="cubemain" type="ball" limited="false"/>

            <site name="center" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" />
            <geom  name="center_sphere" pos="0.00 0.00 0.00" type="sphere" size="0.01 0.01 0.01" rgba="0.5 0.5 0.5 1.0"/>

            <!-- 6 cubelets adjacent to center -->

            <body name="body:neg_x">
                <body name="cubelet:neg_x" pos="-0.01905 0 0">
                    <!-- Red -->
                    <geom name="cubelet:neg_x" class="cubelet" />
                    <geom name="sticker:neg_x" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0"  />
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robogym/assets/xmls/rubik/rubik_perpendicular_vision_corner_cutoff.xml [53:69]:
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    <worldbody>
        <body name="middle" childclass="cube" pos="0 0 0">
            <joint name="cube:tx"  class="cubemain" type="slide" axis="1 0 0" limited="false"/>
            <joint name="cube:ty"  class="cubemain" type="slide" axis="0 1 0" limited="false"/>
            <joint name="cube:tz"  class="cubemain" type="slide" axis="0 0 1" limited="false"/>
            <joint name="cube:rot" class="cubemain" type="ball" limited="false"/>

            <site name="center" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" />
            <geom  name="center_sphere" pos="0.00 0.00 0.00" type="sphere" size="0.01 0.01 0.01" rgba="0.5 0.5 0.5 1.0"/>

            <!-- 6 cubelets adjacent to center -->

            <body name="body:neg_x">
                <body name="cubelet:neg_x" pos="-0.01905 0 0">
                    <!-- Red -->
                    <geom name="cubelet:neg_x" class="cubelet" />
                    <geom name="sticker:neg_x" class="sticker" material="sticker_R" size="0.0001 0.008 0.008" pos="-0.01 0.0 0.0"  />
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