<mujoco model="null_hand">
    <worldbody>
        <body name="null_gripper" pos="0 0 0">
            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
            <inertial pos="0 0 0" mass="3e-1" diaginertia="1e-2 1e-2 1e-2" />
            <!-- This site was added for visualization. -->
            <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
            <!-- This site was added for visualization. -->
            <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
        </body>
    </worldbody>
    <sensor>
        <force name="force_ee" site="ft_frame"/>
        <torque name="torque_ee" site="ft_frame"/>
    </sensor>
</mujoco>
