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<mujoco model="compost_bin">
  <compiler angle="radian" meshdir="meshes" />
  <asset>
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    <mesh name="body_col24" file="body_col24.obj" />
    <mesh name="body_col25" file="body_col25.obj" />
    <mesh name="lid_vis0" file="lid_vis0.obj" inertia="shell" />
    <mesh name="lid_vis1" file="lid_vis1.obj" inertia="shell" />
    <mesh name="lid_col0" file="lid_col0.obj" />
    <mesh name="lid_col1" file="lid_col1.obj" />
    <mesh name="lid_col2" file="lid_col2.obj" />
    <mesh name="lid_col3" file="lid_col3.obj" />
    <mesh name="lid_col4" file="lid_col4.obj" />
    <mesh name="lid_col5" file="lid_col5.obj" />
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    <mesh name="lid_col7" file="lid_col7.obj" />
    <mesh name="lid_col8" file="lid_col8.obj" />
    <mesh name="liner_vis0" file="liner_vis0.obj" inertia="shell" />
    <mesh name="liner_col0" file="liner_col0.obj" />
    <mesh name="liner_col1" file="liner_col1.obj" />
    <mesh name="liner_col2" file="liner_col2.obj" />
    <mesh name="liner_col3" file="liner_col3.obj" />
    <mesh name="liner_col4" file="liner_col4.obj" />
    <mesh name="liner_col5" file="liner_col5.obj" />
    <mesh name="liner_col6" file="liner_col6.obj" />
    <mesh name="liner_col7" file="liner_col7.obj" />
    <mesh name="liner_col8" file="liner_col8.obj" />
    <mesh name="liner_col9" file="liner_col9.obj" />
    <mesh name="liner_col10" file="liner_col10.obj" />
    <mesh name="liner_col11" file="liner_col11.obj" />
    <mesh name="liner_col12" file="liner_col12.obj" />
  </asset>
  <worldbody>
    <body name="body" pos="0.0055636 0 0" quat="0.707107 0 0 -0.707107">
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      <body name="lid" pos="-2.88889e-34 0.0912 0.1408" quat="1 0 0 0">
        <joint name="lid" type="hinge" axis="-1 1.22465e-16 0" pos="0 0 0" damping="0.05" frictionloss="0.2034" armature="0.001" limited="true" range="0 1.74533" />
        <geom type="mesh" mesh="lid_vis0" rgba="0.74 0.75 0.76 1" contype="0" conaffinity="0" group="2" mass="0" />
        <geom type="mesh" mesh="lid_vis1" rgba="0.8 0.81 0.82 1" contype="0" conaffinity="0" group="2" mass="0" />
        <geom type="mesh" mesh="lid_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0358047" />
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        <geom type="mesh" mesh="lid_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0197847" />
        <geom type="mesh" mesh="lid_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00717848" />
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        <geom type="mesh" mesh="lid_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.000278171" />
      </body>
      <body name="liner" pos="0 0 0" quat="1 0 0 0">
        <geom type="mesh" mesh="liner_vis0" rgba="0.74 0.75 0.76 1" contype="0" conaffinity="0" group="2" mass="0" />
        <geom type="mesh" mesh="liner_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0362964" />
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        <geom type="mesh" mesh="liner_col12" rgba="0.5 0.5 0.5 0" group="3" mass="0.000469644" />
      </body>
    </body>
  </worldbody>
</mujoco>