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update
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<geometry>
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<geometry>
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<cylinder radius="0.04" length="0.05"/>
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<cylinder radius="0.04" length="0.05"/>
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</geometry>
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</geometry>
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<material name="white"/>
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<material name="black"/>
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</visual>
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</visual>
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<collision>
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<collision>
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<geometry>
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<geometry>
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