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

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

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

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

            
            <body name="gripper0_eef" pos="0 0 0.015" quat="1 0 0 0">
                <site name="gripper0_grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1" />
                <site name="gripper0_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1" />
                <site name="gripper0_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1" />
                <site name="gripper0_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1" />
                
                <site name="gripper0_grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1" />
            </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>
    </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 /><keyframe><key name="robosuite-wipe-reset-seed0" qpos="-0.0009149619819924409 0.19734750913411403 -0.018710609109407087 -2.6122461249541415 0.00720854534228039 2.9497556159757248 0.7465838498770166" /></keyframe></mujoco>
