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            <geom friction="0.001 0.005 0.0001" name="gripper0_wiping_surface1ex" pos="-0.02 0.0 0.0" rgba="0.25 0.25 0.25 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" name="gripper0_wiping_surface1fx" pos="-0.04 0.0 0.0" rgba="0.25 0.25 0.25 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" name="gripper0_wiping_surface1gx" pos="-0.055 0.0 0.0" rgba="0.25 0.25 0.25 1" size="0.005 0.03 0.005" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" type="box" />

            
            <site group="0" name="gripper0_grip_site" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01" type="sphere" />
            
            <site group="0" name="gripper0_grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0" size="0.005 10" type="cylinder" />
        </body>
    </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </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>