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apple-pi-full / sim_subset /composition /13 /instantaneous_velocity /mapping.json

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	{
	"1": "INVALID",
	"2": "/World/Ground",
	"6": "/World/OakCube",
	"4": "/World/CherryCube",
	"5": "/World/WalnutCube",
	"3": "/World/AshCube"
	}