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1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 torso_g 1.0 endnode endmodelgeom pmh2_robe116 donemodel pmh2_robe116