<mujoco>
  <body name="hand" euler="0 0 0" pos="0 0 0.045">
      <!--
      <body name="endEffector" pos="0 0 0.11289" euler="0 0 0" >
          <site name="endEffector" pos="0 0 0" quat="1 0 0 0" size="0.005, 0.005, 0.005"/>
      </body>
      -->
      <site name="endEffector" pos="0 0 0" quat="1 0 0 0" size="0.005, 0.005, 0.005"/>
      <inertial pos="0 0 0" mass="0.5"/>
      <geom class="collision" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/>
      <geom class="collision" type="box" pos="0 0 0.042" size="0.02041 0.049 0.00476"/>
      <body childclass="fetchGripper" name="r_gripper_finger_link" pos="0 0.0159 0.08526">
          <inertial diaginertia="0.1 0.1 0.1" mass="0.4" pos="-0.01 0 0"/>
          <joint axis="0 1 0" name="r_gripper_finger_joint" range="0 0.035"/>
          <geom pos="0 0 0" size="0.0135 0.007 0.0385" type="box" name="r_gripper_finger_link" condim="4" friction="1 0.05 0.01"/>
          <site name="rightEndEffector" pos="0 0 0" size="0.01" rgba="1.0 0.0 0.0 1.0"/>
          <body name="rightpad" pos ="0 .003 0" >
              <geom name="rightpad_geom" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.015 0.003 0.045" rgba="1 1 1 1.0" solimp="0.9 0.9 0.01" solref="0.01 1" friction="2 0.1 0.002" contype="1" conaffinity="1"/>
          </body>
      </body>
      <body childclass="fetchGripper" name="l_gripper_finger_link" pos="0 -0.0159 0.08526">
          <inertial diaginertia="0.1 0.1 0.1" mass="0.4" pos="-0.01 0 0"/>
          <joint axis="0 -1 0" name="l_gripper_finger_joint" range="-0.035 0"/>
          <geom pos="0 0 0" size="0.0135 0.007 0.0385" type="box" name="l_gripper_finger_link" condim="4" friction="1 0.05 0.01"/>
          <site name="leftEndEffector" pos="0 0 0" size="0.01" rgba="1.0 0.0 0.0 1.0"/>
          <body name="leftpad" pos ="0 -.003 0" >
              <geom name="leftpad_geom" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.015 0.003 0.045" rgba="0 1 1 1.0" solimp="0.9 0.9 0.01" solref="0.01 1" friction="2 0.1 0.002"  contype="1" conaffinity="1" />
          </body>
      </body>
  </body>
</mujoco>
