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                    <body name="foo">
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                        <site name="handle" pos="-0.370823 -0.55 0.35" size="0.02" rgba="0 0 1 1" />
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        <site name="top_site" pos="0 0 0.3" rgba="0 0 0 0" size="0.005"/>
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    </worldbody>
</mujoco>
