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                <site group="0" name="contact91_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact92_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact92_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact92_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact93_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact93_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact93_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact94_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact94_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact94_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact95_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact95_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact95_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact96_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact96_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact96_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact97_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact97_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact97_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact98_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact98_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact98_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
            <body name="contact99_main" pos="0 0 0">
                <geom conaffinity="0" contype="0" group="1" mass="1e-8" material="dirt_mat" name="contact99_g0_vis"
                      pos="0 0 0" size="0.02 0.001" type="cylinder"/>
                <site group="0" name="contact99_default_site" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002"
                      type="sphere"/>
            </body>
        </body>

        <light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" name="light1" pos="1.0 1.0 4.0"
               specular="0.3 0.3 0.3"/>
        <light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" name="light2"
               pos="-3.0 -3.0 4.0" specular="0.3 0.3 0.3"/>


        <camera mode="fixed" name="frontview" pos="1.6 0.0 1.45" quat="0.56 0.43 0.43 0.56"/>

        <camera mode="fixed" name="birdview" pos="-0.2 0.0 3.0" quat="0.7071 0 0 0.7071"/>

        <camera mode="fixed" name="agentview" pos="0.5 0.0 1.35" quat="0.653 0.271 0.271 0.653"/>

        <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434"
                quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364"/>
        <body name="robot0_base" pos="-0.41000000000000003 0.0 0.912">


            <camera mode="fixed" name="robot0_robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
            <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>

            <body name="robot0_j2s7s300_link_0" pos="0 0 0">
                <inertial diaginertia="0.4 0.4 0.4" mass="4" pos="0 0 0.05"/>
                <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_base"
                      type="mesh"/>
                <geom mesh="robot0_base" name="robot0_base_collision" rgba="0 0.5 0 1" type="mesh"/>
                <body name="robot0_j2s7s300_link_1" pos="0 0 0.15675" quat="0 0 1 0">
                    <inertial diaginertia="0.00152032 0.00152032 0.00059816" mass="0.7477" pos="0 -0.002 -0.0605"/>
                    <joint armature="5.0" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true"
                           name="robot0_j2s7s300_joint_1" pos="0 0 0" range="-6.28319 6.28319"/>
                    <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco" mesh="robot0_shoulder"
                          name="robot0_s_visual" type="mesh"/>
                    <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco"
                          mesh="robot0_ring_big" name="robot0_s_ring_visual" type="mesh"/>
                    <geom mesh="robot0_shoulder" name="robot0_s_collision" rgba="0 0.5 0 1" type="mesh"/>
                    <body name="robot0_j2s7s300_link_2" pos="0 0.0016 -0.11875" quat="0 0 -0.707107 0.707107">
                        <inertial diaginertia="0.00247074 0.00247074 0.000380115" mass="0.8447" pos="0 -0.103563 0"
                                  quat="0.707107 0.707107 0 0"/>
                        <joint armature="2.5" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true"
                               name="robot0_j2s7s300_joint_2" pos="0 0 0" range="0.820305 5.46288"/>
                        <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco"
                              mesh="robot0_arm_half_1" name="robot0_ah1_visual" type="mesh"/>
                        <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco"
                              mesh="robot0_ring_big" name="robot0_ah1_ring_visual" type="mesh"/>
                        <geom mesh="robot0_arm_half_1" name="robot0_ah1_collision" rgba="0 0.5 0 1" type="mesh"/>
                        <body name="robot0_j2s7s300_link_3" pos="0 -0.205 0" quat="0.707107 -0.707107 0 0">
                            <inertial diaginertia="0.00247074 0.00247074 0.000380115" mass="0.8447"
                                      pos="0 0 -0.102245"/>
                            <joint armature="1.6666666666666667" axis="0 0 1" damping="0.1" frictionloss="0.01"
                                   limited="true" name="robot0_j2s7s300_joint_3" pos="0 0 0" range="-6.28319 6.28319"/>
                            <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco"
                                  mesh="robot0_arm_half_2" name="robot0_ah2_visual" type="mesh"/>
                            <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco"
                                  mesh="robot0_ring_big" name="robot0_ah2_ring_visual" type="mesh"/>
                            <geom mesh="robot0_arm_half_2" name="robot0_ah2_collision" rgba="0 0.5 0 1" type="mesh"/>
                            <body name="robot0_j2s7s300_link_4" pos="0 0 -0.205" quat="0 0 0.707107 0.707107">
                                <inertial diaginertia="0.00142022 0.00142022 0.000304335" mass="0.6763"
                                          pos="0 0.081 -0.0086" quat="0.707107 0.707107 0 0"/>
                                <joint armature="1.25" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true"
                                       name="robot0_j2s7s300_joint_4" pos="0 0 0" range="0.523599 5.75959"/>
                                <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco"
                                      mesh="robot0_forearm" name="robot0_f_visual" type="mesh"/>
                                <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco"
                                      mesh="robot0_ring_small" name="robot0_f_ring_visual" type="mesh"/>
                                <geom mesh="robot0_forearm" name="robot0_f_collision" rgba="0 0.5 0 1" type="mesh"/>
                                <body name="robot0_j2s7s300_link_5" pos="0 0.2073 -0.0114"
                                      quat="0 0 -0.707107 0.707107">
                                    <inertial diaginertia="0.000432132 0.000432132 9.26e-05" mass="0.463"
                                              pos="0 0.00288489 -0.0541933"/>
                                    <joint armature="1.0" axis="0 0 1" damping="0.1" frictionloss="0.01" limited="true"
                                           name="robot0_j2s7s300_joint_5" pos="0 0 0" range="-6.28319 6.28319"/>
                                    <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco"
                                          mesh="robot0_wrist_spherical_1" name="robot0_ws1_visual" type="mesh"/>
                                    <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco"
                                          mesh="robot0_ring_small" name="robot0_ws1_ring_visual" type="mesh"/>
                                    <geom mesh="robot0_wrist_spherical_1" name="robot0_ws1_collision" rgba="0 0.5 0 1"
                                          type="mesh"/>
                                    <body name="robot0_j2s7s300_link_6" pos="0 0 -0.10375" quat="0 0 0.707107 0.707107">
                                        <inertial diaginertia="0.000432132 0.000432132 9.26e-05" mass="0.463"
                                                  pos="0 0.0497209 -0.00285628" quat="0.707107 0.707107 0 0"/>
                                        <joint armature="0.8333333333333334" axis="0 0 1" damping="0.01"
                                               frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_6"
                                               pos="0 0 0" range="1.13446 5.14872"/>
                                        <geom conaffinity="0" contype="0" group="1" material="robot0_carbon_jaco"
                                              mesh="robot0_wrist_spherical_2" name="robot0_ws2_visual" type="mesh"/>
                                        <geom conaffinity="0" contype="0" group="1" material="robot0_grey_plastic_jaco"
                                              mesh="robot0_ring_small" name="robot0_ws2_ring_visual" type="mesh"/>
                                        <geom mesh="robot0_wrist_spherical_2" name="robot0_ws2_collision"
                                              rgba="0 0.5 0 1" type="mesh"/>
                                        <body name="robot0_j2s7s300_link_7" pos="0 0.10375 0"
                                              quat="0 0 -0.707107 0.707107">
                                            <inertial diaginertia="1e-6 1e-6 1e-6" mass="1e-6" pos="0 0 -0.06"
                                                      quat="0.5 0.5 -0.5 0.5"/>
                                            <joint armature="0.7142857142857143" axis="0 0 1" damping="0.01"
                                                   frictionloss="0.01" limited="true" name="robot0_j2s7s300_joint_7"
                                                   pos="0 0 0" range="-6.28319 6.28319"/>
                                            <body name="robot0_right_hand" pos="0 0 0" quat="0 1 0 0">

                                                <camera fovy="75" mode="fixed" name="robot0_eye_in_hand" pos="0.08 0 0"
                                                        quat="0 0.707108 0.707108 0"/>

                                                <body name="gripper0_wiping_gripper" pos="0 0 0.015"
                                                      quat="0.707107 0 0 -0.707107">
                                                    <site group="1" name="gripper0_ft_frame" pos="0 0 0" rgba="1 0 0 1"
                                                          size="0.01 0.01 0.01" type="sphere"/>
                                                    <inertial diaginertia="1e-2 1e-2 1e-2" mass="3e-2" pos="0 0 0"/>

                                                    <geom conaffinity="0" contype="0" group="1"
                                                          name="gripper0_wiping_surface_vis" pos="0 0 0.0"
                                                          rgba="0.25 0.25 0.25 1" size="0.06 0.025 0.015" type="box"/>

                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1a" pos="0.055 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1b" pos="0.04 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1c" pos="0.02 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1d" pos="0.0 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1e" pos="-0.02 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1f" pos="-0.04 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1g" pos="-0.055 0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>

                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_corner1" pos="0.06 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>

                                                    <site name="gripper0_wiping_corner1_site" pos="0.06 0.025 0.015"
                                                          size="0.001" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1br" pos="0.04 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1cr" pos="0.02 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1dr" pos="0.0 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1er" pos="-0.02 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1fr" pos="-0.04 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_corner2" pos="-0.06 0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <site name="gripper0_wiping_corner2_site" pos="-0.06 0.025 0.015"
                                                          size="0.001" type="sphere"/>

                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2a" pos="0.055 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2b" pos="0.04 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2c" pos="0.02 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2d" pos="0.0 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2e" pos="-0.02 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2f" pos="-0.04 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2g" pos="-0.055 -0.02 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.01 0.015" solimp="0.2 0.9 0.01"
                                                          solmix="10000" solref="0.05 1" type="box"/>

                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_corner3" pos="0.06 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <site name="gripper0_wiping_corner3_site" pos="0.06 -0.025 0.015"
                                                          size="0.001" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2br" pos="0.04 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2cr" pos="0.02 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2dr" pos="0.0 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2er" pos="-0.02 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface2fr" pos="-0.04 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_corner4" pos="-0.06 -0.025 0.015"
                                                          rgba="0 0 0.5 1" size="0.001" solimp="0.0 0.1 0.01"
                                                          solmix="10000" solref="1 2" type="sphere"/>
                                                    <site name="gripper0_wiping_corner4_site" pos="-0.06 -0.025 0.015"
                                                          size="0.001" type="sphere"/>

                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1ax" pos="0.055 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1bx" pos="0.04 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1cx" pos="0.02 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1dx" pos="0.0 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1ex" pos="-0.02 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1fx" pos="-0.04 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>
                                                    <geom friction="0.001 0.005 0.0001" group="0"
                                                          name="gripper0_wiping_surface1gx" pos="-0.055 0.0 0.0"
                                                          rgba="0 0 0.5 1" size="0.005 0.03 0.005"
                                                          solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1"
                                                          type="box"/>


                                                    <body name="gripper0_eef" pos="0 0 0.015" quat="1 0 0 0">
                                                        <site group="1" name="ee_site" pos="0 0 0"
                                                              rgba="1 0 0 0.5" size="0.01 0.01 0.01" type="sphere"/>
                                                        <site group="1" name="gripper0_ee_x" pos="0.1 0 0"
                                                              quat="0.707105  0 0.707108 0 " rgba="1 0 0 0"
                                                              size="0.005 .1" type="cylinder"/>
                                                        <site group="1" name="gripper0_ee_y" pos="0 0.1 0"
                                                              quat="0.707105 0.707108 0 0" rgba="0 1 0 0"
                                                              size="0.005 .1" type="cylinder"/>
                                                        <site group="1" name="gripper0_ee_z" pos="0 0 0.1"
                                                              quat="1 0 0 0" rgba="0 0 1 0" size="0.005 .1"
                                                              type="cylinder"/>

                                                        <site group="1" name="gripper0_grip_site_cylinder" pos="0 0 0"
                                                              rgba="0 1 0 0.3" size="0.005 10" type="cylinder"/>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
<!--            <body name="mount0_base" pos="0.0 0.0 0.01">-->
<!--                <body name="mount0_controller_box" pos="0 0 0">-->
<!--                    <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>-->
<!--                    <geom name="mount0_controller_box_col" pos="-0.325 0 -0.38" rgba="0.5 0.5 0 1" size="0.11 0.2 0.265"-->
<!--                          type="box"/>-->
<!--                </body>-->
<!--                <body name="mount0_pedestal_feet" pos="0 0 0">-->
<!--                    <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>-->
<!--                    <geom name="mount0_pedestal_feet_col" pos="-0.1225 0 -0.758" rgba="0.5 0.5 0 1"-->
<!--                          size="0.385 0.35 0.155" type="box"/>-->
<!--                </body>-->
<!--                <body name="mount0_torso" pos="0 0 0">-->
<!--                    <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>-->
<!--                    <geom conaffinity="0" contype="0" group="1" name="mount0_torso_vis" pos="0 0 -0.05"-->
<!--                          rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box"/>-->
<!--                </body>-->
<!--                <body name="mount0_pedestal" pos="0 0 0">-->
<!--                    <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0"-->
<!--                              quat="0.659267 -0.259505 -0.260945 0.655692"/>-->
<!--                    <geom conaffinity="0" contype="0" group="1" mesh="mount0_pedestal" name="mount0_pedestal_vis"-->
<!--                          rgba="0.2 0.2 0.2 1" type="mesh"/>-->
<!--                    <geom name="mount0_pedestal_col" pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31"-->
<!--                          type="cylinder"/>-->
<!--                </body>-->
<!--            </body>-->
        </body>
    </worldbody>

    <equality>
    </equality>
    <sensor>
        <force name="gripper0_force_ee" site="gripper0_ft_frame"/>
        <torque name="gripper0_torque_ee" site="gripper0_ft_frame"/>
        <touch name="gripper0_touch1" site="gripper0_wiping_corner1_site"/>
        <touch name="gripper0_touch2" site="gripper0_wiping_corner2_site"/>
        <touch name="gripper0_touch3" site="gripper0_wiping_corner3_site"/>
        <touch name="gripper0_touch4" site="gripper0_wiping_corner4_site"/>
    </sensor>
    <tendon/>
    <contact/>
    <default/>
</mujoco>