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<mujoco> <!-- Box deeply penetrating another box --> <worldbody> <geom type="box" size="1 1 1" rgba=".5 .5 .5 .5"/> <body pos=".1 .2 .3"> <freejoint/> <geom type="box" size=".2 .2 .2"/> </body> </worldbody> </mujoco>
