robosumo/envs/assets/bug.xml [117:122]:
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    <jointvel name='vel_ankle_1' joint='ankle_1' />
    <jointvel name='vel_ankle_2' joint='ankle_2' />
    <jointvel name='vel_ankle_3' joint='ankle_3' />
    <jointvel name='vel_ankle_4' joint='ankle_4' />
    <jointvel name='vel_ankle_5' joint='ankle_5' />
    <jointvel name='vel_ankle_6' joint='ankle_6' />
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robosumo/envs/assets/spider.xml [151:156]:
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    <jointvel name='vel_ankle_1' joint='ankle_1' />
    <jointvel name='vel_ankle_2' joint='ankle_2' />
    <jointvel name='vel_ankle_3' joint='ankle_3' />
    <jointvel name='vel_ankle_4' joint='ankle_4' />
    <jointvel name='vel_ankle_5' joint='ankle_5' />
    <jointvel name='vel_ankle_6' joint='ankle_6' />
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