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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>