
<mujoco model="rubik-v1.50">
    <asset>
        <material name="MatRubik" specular="1" shininess=".3" rgba="0 0 0 1"/>
        <material name="RedSticker_0_0" specular=".3" shininess=".3" rgba="0.3843137254901961 0.09411764705882353 0.03529411764705882 1" />
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        <material name="RedSticker_2_2" specular=".3" shininess=".3" rgba="0.3843137254901961 0.09411764705882353 0.03529411764705882 1" />

        <material name="OrangeSticker_0_0" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_0_1" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_0_2" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_1_0" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_1_1" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_1_2" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_2_0" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_2_1" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />
        <material name="OrangeSticker_2_2" specular=".3" shininess=".3" rgba="0.5137254901960784 0.2823529411764706 0.01568627450980392 1" />

        <material name="YellowSticker_0_0" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_0_1" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_0_2" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_1_0" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_1_1" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_1_2" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_2_0" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_2_1" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />
        <material name="YellowSticker_2_2" specular=".3" shininess=".3" rgba="0.5019607843137255 0.4549019607843137 0.050980392156862744 1" />

        <material name="GreenSticker_0_0" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_0_1" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_0_2" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_1_0" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_1_1" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_1_2" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_2_0" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_2_1" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />
        <material name="GreenSticker_2_2" specular=".3" shininess=".3" rgba="0.00784313725490196 0.3137254901960784 0.19215686274509805 1" />

        <material name="WhiteSticker_0_0" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_0_1" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_0_2" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_1_0" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_1_1" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_1_2" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_2_0" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_2_1" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />
        <material name="WhiteSticker_2_2" specular=".3" shininess=".3" rgba="0.596078431372549 0.6196078431372549 0.5607843137254902 1" />

        <material name="BlueSticker_0_0" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_0_1" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_0_2" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_1_0" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_1_1" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_1_2" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_2_0" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_2_1" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />
        <material name="BlueSticker_2_2" specular=".3" shininess=".3" rgba="0.043137254901960784 0.13333333333333333 0.30980392156862746 1" />

        <material name="CubePS_0_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_1_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_2_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_3_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_4_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_5_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_6_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />
        <material name="CubePS_7_Material" specular="1" shininess=".3" rgba="1 0 0 1" emission="1." />

    </asset>

    <worldbody>
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            <site name="center" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01"></site>
            <joint name="cube_tx" type="slide" axis="1 0 0" limited="false"/>
            <joint name="cube_ty" type="slide" axis="0 1 0" limited="false"/>
            <joint name="cube_tz" type="slide" axis="0 0 1" limited="false"/>
            <joint name="cube_rot" type="ball" limited="false"/>
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                <geom name="sticker_top_0_0" type="box" size="0.008 0.008 .0001" conaffinity="0" contype="0" material="RedSticker_0_0"/>
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                <geom name="sticker_side4_1_2" type="box" size=".0001 0.008 0.008" conaffinity="0" contype="0" material="BlueSticker_1_2"/>
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                <geom name="sticker_side4_2_0" type="box" size=".0001 0.008 0.008" conaffinity="0" contype="0" material="BlueSticker_2_0"/>
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                <geom name="sticker_side4_2_2" type="box" size=".0001 0.008 0.008" conaffinity="0" contype="0" material="BlueSticker_2_2"/>
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            <site name="CubePS_0" pos="-0.0275 -0.0275 -0.0275" size="0.003" material="CubePS_0_Material" rgba="1 0 0 1"/>
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            <site name="CubePS_5" pos="0.0275 -0.0275 0.0275" size="0.003" material="CubePS_5_Material" rgba="1 0 0 1"/>
            <site name="CubePS_6" pos="0.0275 0.0275 -0.0275" size="0.003" material="CubePS_6_Material" rgba="1 0 0 1"/>
            <site name="CubePS_7" pos="0.0275 0.0275 0.0275" size="0.003" material="CubePS_7_Material" rgba="1 0 0 1"/>

        </body>
        <body name="annotation:outer_bound" pos="0.0285 0.0285 0.0285">
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    </worldbody>

</mujoco>
