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                <joint axis="0 1 0" damping="100" limited="true" name="gripper0_finger_joint2" pos="0 0 0" range="-0.04 0.0" type="slide" />
                <geom conaffinity="0" contype="0" group="1" material="gripper0_finger_mat" mesh="gripper0_finger_vis" name="gripper0_finger2_visual" quat="0 0 0 1" type="mesh" />
                <geom conaffinity="1" condim="4" contype="0" friction="1 0.005 0.0001" mesh="gripper0_finger" name="gripper0_finger2_collision" quat="0 0 0 1" solref="0.02 1" type="mesh" />
                <body name="gripper0_finger_joint2_tip" pos="0 -0.0085 0.056">
                    <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
                    <geom conaffinity="1" contype="1" friction="2 0.05 0.0001" name="gripper0_finger2_tip_collision" pos="0 0.005 -0.015" quat="0 0 0 1" size="0.008 0.004 0.008" solref="0.01 0.5" type="box" />
                </body>
            </body>
        </body>
    </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    <body name="Door" pos="-0.11807434694126376 -0.35614444625522773 1.1" quat="0.6870168545081947 0.0 0.0 -0.7266414808016852">
          <body name="frame" pos="0 0.22 0" quat="0.707388 0 0 -0.706825">
              <inertial diaginertia="0.923301 0.764585 0.168533" mass="7.85398" pos="0.3 0 0" quat="0.5 0.5 0.5 0.5" />
              <geom group="1" name="r_frame" pos="0.555 0 0" rgba="1 1 1 1" size="0.03 0.3" type="cylinder" />
              <geom group="1" name="l_frame" pos="0.045 0 0" rgba="1 1 1 1" size="0.03 0.3" type="cylinder" />
              <body name="door" pos="0.3 0 0">
                  <inertial diaginertia="0.0913751 0.0521615 0.043714" mass="2.43455" pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" />
                  <joint axis="0 0 1" damping="0.1" frictionloss="0.0" limited="true" name="door_hinge" pos="0.255 0 0" range="0.0 0.4" />
                  <geom friction="1 1 1" group="1" material="MatDarkWood" name="door_box" size="0.22 0.02 .29" type="box" />
                  <body name="latch" pos="-0.175 0 -0.025">
                      <inertial diaginertia="0.0483771 0.0410001 0.0111013" mass="0.1" pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" />
                      <joint axis="0 1 0" damping="0" frictionloss="0.1" limited="true" name="latch_joint" pos="0 0 0" range="-1.57 1.57" springref="0" stiffness="1" />
                      <geom fromto="0 0.0625 0 0 -0.125 0" group="1" material="MatMetal" name="handle_base" size="0.025" type="cylinder" />
                      <geom group="1" material="MatMetal" name="handle" pos="0.075 -0.10 0" size="0.075 0.015 0.02" type="box" />
                      <geom group="1" material="MatMetal" name="latch" pos="-0.03125 0.05 0" quat="0.707388 0 0.706825 0" size="0.025 0.0125 0.03125" type="box" />
                      <geom group="1" material="MatMetal" name="latch_tip" pos="-0.0625 0.05 0" quat="0.707388 0.706825 0 0" size="0.025 0.0125" type="cylinder" />
                      
                      <site name="door_handle" pos="0.125 -0.10 0" rgba="0 0 1 0" size="0.02" />
                  </body>
              </body>
          </body>
        <site name="Door" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002" type="sphere" /></body>
        </worldbody>

  <equality>
  </equality>
<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
    </sensor><tendon /><contact /><default /></mujoco>