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        <include file="robot.xml"></include>
        
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        <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
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    <asset>
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    <actuator>
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</mujoco>
    