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                            <inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08"
                                      quat="0.820473 0.339851 -0.17592 0.424708"/>
                            <geom name="robot0_right_l1_2" pos="0 0 0.035" rgba="0 0.5 0 1" size="0.07 0.07"
                                  type="cylinder"/>
                        </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 name="mount0_controller_box_col" pos="-0.325 0 -0.38" rgba="0.5 0.5 0 0.01" size="0.11 0.2 0.265"
                          type="box"/>
                </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 name="mount0_pedestal_feet_col" pos="-0.1225 0 -0.758" rgba="0.5 0.5 0 0.01"
                          size="0.385 0.35 0.155" type="box"/>
                </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" name="mount0_torso_vis" pos="0 0 -0.05"
                          rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box"/>
                </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" name="mount0_pedestal_vis"
                          rgba="0.2 0.2 0.2 1" type="mesh"/>
                    <geom name="mount0_pedestal_col" pos="-0.02 0 -0.29" rgba="0.5 0.5 0 0.01" size="0.18 0.31"
                          type="cylinder"/>
                </body>
            </body>
        </body>

        <site group="1" name="target_ee_site" pos="0.1 0.0 1.2" rgba="1 0 0 0.5" size="0.01 0.01 0.01" type="sphere"/>
<!--        <body name="VisualMilk_main">-->
<!--            <geom conaffinity="0" contype="0" group="1" mass="0.0001" mesh="VisualMilk_milk_mesh" name="VisualMilk_g0"-->
<!--                  pos="0 0 0" rgba="0.8 0.8 0.8 0.3" type="mesh"/>-->
<!--            <site group="0" name="VisualMilk_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002"-->
<!--                  type="sphere"/>-->
<!--        </body>-->
<!--        <body name="VisualBread_main">-->
<!--            <geom conaffinity="0" contype="0" group="1" mass="0.0001" mesh="VisualBread_bread_mesh"-->
<!--                  name="VisualBread_g0" pos="0 0 0" rgba="0.8 0.8 0.8 0.3" type="mesh"/>-->
<!--            <site group="0" name="VisualBread_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002"-->
<!--                  type="sphere"/>-->
<!--        </body>-->
<!--        <body name="VisualCereal_main">-->
<!--            <geom conaffinity="0" contype="0" group="1" mass="0.0001" mesh="VisualCereal_cereal_mesh"-->
<!--                  name="VisualCereal_g0" pos="0 0 0" rgba="0.8 0.8 0.8 0.3" type="mesh"/>-->
<!--            <site group="0" name="VisualCereal_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002"-->
<!--                  type="sphere"/>-->
<!--        </body>-->
<!--        <body name="VisualCan_main">-->
<!--            <geom conaffinity="0" contype="0" group="1" mass="0.0001" mesh="VisualCan_can_mesh" name="VisualCan_g0"-->
<!--                  pos="0 0 0" rgba="0.8 0.8 0.8 0.3" type="mesh"/>-->
<!--            <site group="0" name="VisualCan_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002"-->
<!--                  type="sphere"/>-->
<!--        </body>-->
<!--        <body name="Milk_main">-->
<!--            <geom condim="4" density="100" friction="0.95 0.3 0.1" group="0" mesh="Milk_milk_mesh" name="Milk_g0"-->
<!--                  pos="0 0 0" rgba="0.5 0 0 1" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <geom conaffinity="0" condim="4" contype="0" density="100" friction="0.95 0.3 0.1" group="1" mass="1e-8"-->
<!--                  material="Milk_ceramic" mesh="Milk_milk_mesh" name="Milk_g0_visual" pos="0 0 0"-->
<!--                  solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <joint damping="0.0005" name="Milk_joint0" type="free"/>-->
<!--            <site group="0" name="Milk_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002" type="sphere"/>-->
<!--        </body>-->
<!--        <body name="Bread_main">-->
<!--            <geom condim="4" density="50" friction="0.95 0.3 0.1" group="0" mesh="Bread_bread_mesh" name="Bread_g0"-->
<!--                  pos="0 0 0" rgba="0.5 0 0 1" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <geom conaffinity="0" condim="4" contype="0" density="50" friction="0.95 0.3 0.1" group="1" mass="1e-8"-->
<!--                  material="Bread_bread" mesh="Bread_bread_mesh" name="Bread_g0_visual" pos="0 0 0"-->
<!--                  solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <joint damping="0.0005" name="Bread_joint0" type="free"/>-->
<!--            <site group="0" name="Bread_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002"-->
<!--                  type="sphere"/>-->
<!--        </body>-->
<!--        <body name="Cereal_main">-->
<!--            <geom condim="4" density="150" friction="0.95 0.3 0.1" group="0" mesh="Cereal_cereal_mesh" name="Cereal_g0"-->
<!--                  pos="0 0 0" rgba="0.5 0 0 1" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <geom conaffinity="0" condim="4" contype="0" density="150" friction="0.95 0.3 0.1" group="1" mass="1e-8"-->
<!--                  material="Cereal_cereal" mesh="Cereal_cereal_mesh" name="Cereal_g0_visual" pos="0 0 0"-->
<!--                  solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <joint damping="0.0005" name="Cereal_joint0" type="free"/>-->
<!--            <site group="0" name="Cereal_default_site" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002"-->
<!--                  type="sphere"/>-->
<!--        </body>-->
<!--        <body name="Can_main">-->
<!--            <geom condim="4" density="100" friction="0.95 0.3 0.1" group="0" mesh="Can_can_mesh" name="Can_g0"-->
<!--                  pos="0 0 0" rgba="0.5 0 0 1" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh"/>-->
<!--            <geom conaffinity="0" condim="4" contype="0" density="100" friction="0.95 0.3 0.1" group="1" mass="1e-8"-->
<!--                  material="Can_coke" mesh="Can_can_mesh" name="Can_g0_visual" pos="0 0 0" solimp="0.998 0.998 0.001"-->
<!--                  solref="0.001 1" type="mesh"/>-->
<!--            <joint damping="0.0005" name="Can_joint0" type="free"/>-->
<!--            <site group="0" name="Can_default_site" 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>