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                    <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger1_pad_collision" rgba="0 0 0.5 1" />
                </body>
            </body>
            <body name="gripper0_rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
                <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
                <joint name="gripper0_finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100" armature="1.0" frictionloss="1.0" />
                <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="gripper0_finger_vis" name="gripper0_finger2_visual" rgba="0.499 0.499 0.499 1" />
                <geom quat="0 0 0 1" type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="gripper0_finger" name="gripper0_finger2_collision" rgba="0 0 0.5 1" />
                <body name="gripper0_finger_joint2_tip" pos="0 -0.0085 0.056">
                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
                    <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction="2 0.05 0.0001" conaffinity="1" contype="1" name="gripper0_finger2_pad_collision" rgba="0 0 0.5 1" />
                </body>
            </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 pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="mount0_controller_box_col" rgba="0.5 0.5 0 1" />
            </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 pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="mount0_pedestal_feet_col" rgba="0.5 0.5 0 1" />
            </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" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="mount0_torso_vis" rgba="0.2 0.2 0.2 1" />
            </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" type="mesh" name="mount0_pedestal_vis" rgba="0.2 0.2 0.2 1" />
                <geom pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31" type="cylinder" name="mount0_pedestal_col" />
            </body>
        </body>
    </body>
    <body name="VisualMilk_main" pos="0.0025000000000000022 0.15750000000000003 0.885" quat="1.0 0.0 0.0 0.0">
        <geom pos="0 0 0" mesh="VisualMilk_milk_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001" name="VisualMilk_g0" />
      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="VisualMilk_default_site" /></body>
      <body name="VisualBread_main" pos="0.1975 0.15750000000000003 0.8450000000000001" quat="1.0 0.0 0.0 0.0">
        <geom pos="0 0 0" mesh="VisualBread_bread_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001" name="VisualBread_g0" />
      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="VisualBread_default_site" /></body>
      <body name="VisualCereal_main" pos="0.0025000000000000022 0.4025000000000001 0.9" quat="1.0 0.0 0.0 0.0">
        <geom pos="0 0 0" mesh="VisualCereal_cereal_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001" name="VisualCereal_g0" />
      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="VisualCereal_default_site" /></body>
      <body name="VisualCan_main" pos="0.1975 0.4025000000000001 0.8600000000000001" quat="1.0 0.0 0.0 0.0">
        <geom pos="0 0 0" mesh="VisualCan_can_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001" name="VisualCan_g0" />
      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="VisualCan_default_site" /></body>
      <body name="Milk_main">
        <geom pos="0 0 0" mesh="Milk_milk_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" name="Milk_g0" rgba="0.5 0 0 1" />
      <geom pos="0 0 0" mesh="Milk_milk_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="Milk_ceramic" group="1" condim="4" name="Milk_g0_visual" conaffinity="0" contype="0" mass="1e-8" />
      <joint type="free" damping="0.0005" name="Milk_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="Milk_default_site" /></body>
      <body name="Bread_main">
        <geom pos="0 0 0" mesh="Bread_bread_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" group="0" condim="4" name="Bread_g0" rgba="0.5 0 0 1" />
      <geom pos="0 0 0" mesh="Bread_bread_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="Bread_bread" group="1" condim="4" name="Bread_g0_visual" conaffinity="0" contype="0" mass="1e-8" />
      <joint type="free" damping="0.0005" name="Bread_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="Bread_default_site" /></body>
      <body name="Cereal_main">
        <geom pos="0 0 0" mesh="Cereal_cereal_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="150" friction="0.95 0.3 0.1" group="0" condim="4" name="Cereal_g0" rgba="0.5 0 0 1" />
      <geom pos="0 0 0" mesh="Cereal_cereal_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="150" friction="0.95 0.3 0.1" material="Cereal_cereal" group="1" condim="4" name="Cereal_g0_visual" conaffinity="0" contype="0" mass="1e-8" />
      <joint type="free" damping="0.0005" name="Cereal_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="Cereal_default_site" /></body>
      <body name="Can_main">
        <geom pos="0 0 0" mesh="Can_can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" name="Can_g0" rgba="0.5 0 0 1" />
      <geom pos="0 0 0" mesh="Can_can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="Can_coke" group="1" condim="4" name="Can_g0_visual" conaffinity="0" contype="0" mass="1e-8" />
      <joint type="free" damping="0.0005" name="Can_joint0" /><site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="Can_default_site" /></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 /><keyframe><key name="robosuite-pick-place-bread-reset-seed0" qpos="0.035281046919353284 0.20435268501670653 0.019574759682114785 -2.5731760140074647 0.03735115980299935 2.922047095992265 0.8043999317479601 0.020833 -0.020833 10.0 10.0 10.0 1.0 0.0 0.0 0.0 0.10664583154316803 -0.22754529483900235 0.8450000000000001 -0.972805780702471 0.0 0.0 0.23162235002662393 10.0 10.0 10.0 1.0 0.0 0.0 0.0 10.0 10.0 10.0 1.0 0.0 0.0 0.0" /></keyframe></mujoco>
