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                <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="cubeA" pos="-0.05783287313867911 -0.0009694986774682612 0.8200000000000001" quat="0.14407570050950372 0.0 0.0 0.9895666690641393"><geom density="1000" friction="1 0.005 0.0001" group="1" material="redwood_mat" name="cubeA" pos="0 0 0" size="0.02 0.02 0.02" solimp="0.9 0.95 0.001" solref="0.02 1.0" type="box" /><site name="cubeA" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cubeA_jnt0" type="free" /></body><body name="cubeB" pos="0.060770975690008014 0.027009644205642183 0.8250000000000001" quat="0.2904549134355058 0.0 0.0 0.9568886786147973"><geom density="1000" friction="1 0.005 0.0001" group="1" material="greenwood_mat" name="cubeB" pos="0 0 0" size="0.025 0.025 0.025" solimp="0.9 0.95 0.001" solref="0.02 1.0" type="box" /><site name="cubeB" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cubeB_jnt0" type="free" /></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>