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v2d
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  <text x="400" y="221" text-anchor="middle" class="body" font-size="11"  fill="#ccff90">sim &#183; scene &#183; assets &#183; sensors &#183; envs &#183; managers &#183; actuators</text>
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  <text x="400" y="272" text-anchor="middle" class="body" font-size="9.5"  fill="#76b900">factory pattern: uniform API dispatches to the active physics backend at runtime</text>

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       Layer 6 (bottom): Universal foundation
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