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maze16x16.xml
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<mujoco model="maze">
<worldbody>
<!--ベース板-->
<body name="base_plate" pos="1.44 1.44 0.012">
<geom type="plane" mass="0.1" size="1.446 1.446 0.006" rgba="0.2 0.2 0.2 1" friction="0.0 0.0 0.0"/>
</body>
<!-- Column 1-->
<body pos="0.0 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 2-->
<body pos="0.18 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 3-->
<body pos="0.36 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 4-->
<body pos="0.54 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 5-->
<body pos="0.72 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 6-->
<body pos="0.8999999999999999 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 7-->
<body pos="1.08 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 8-->
<body pos="1.26 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 9-->
<body pos="1.44 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 10-->
<body pos="1.6199999999999999 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 11-->
<body pos="1.7999999999999998 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 12-->
<body pos="1.98 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 13-->
<body pos="2.16 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 14-->
<body pos="2.34 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 15-->
<body pos="2.52 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 16-->
<body pos="2.6999999999999997 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 17-->
<body pos="2.88 0.0 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 18-->
<body pos="0.0 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 19-->
<body pos="0.18 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 20-->
<body pos="0.36 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 21-->
<body pos="0.54 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 22-->
<body pos="0.72 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 23-->
<body pos="0.8999999999999999 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 24-->
<body pos="1.08 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 25-->
<body pos="1.26 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 26-->
<body pos="1.44 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 27-->
<body pos="1.6199999999999999 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 28-->
<body pos="1.7999999999999998 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 29-->
<body pos="1.98 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 30-->
<body pos="2.16 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 31-->
<body pos="2.34 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 32-->
<body pos="2.52 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 33-->
<body pos="2.6999999999999997 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.006 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!-- Column 34-->
<body pos="2.88 0.18 0.037">
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.006 0.006 0.0245" rgba="1 1 1 1"/>
</body>
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<body pos="0 0 0.0245">
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