<mujoco model="chair_ivar_0668">
  <custom>
    <numeric data="0.371978 0.069044 0.007593 0.500517 -0.499483 0.500514 0.499485" name="0_part0_initpos" />
    <numeric data="0.024402 -0.027272 0.018791 1.2e-05 -0.999999 0.001077 -0.0" name="4_part4_initpos" />
    <numeric data="0.017933 0.225411 0.014621 0.999111 0.002904 -0.000122 -0.042059" name="3_part3_initpos" />
    <numeric data="0.021304 0.340442 0.015788 0.997245 0.069882 0.001738 0.024808" name="2_part2_initpos" />
    <numeric data="-0.327291 0.05709 0.007492 0.500002 -0.499999 -0.499999 -0.500001" name="1_part1_initpos" />
  </custom>
  <asset>
    <mesh file="chair_ivar_0668/0.stl" name="part0" scale="0.00050688 0.00050688 0.00050688" />
    <mesh file="chair_ivar_0668/4.stl" name="part4" scale="0.00050688 0.00050688 0.00050688" />
    <mesh file="chair_ivar_0668/3.stl" name="part3" scale="0.00050688 0.00050688 0.00050688" />
    <mesh file="chair_ivar_0668/2.stl" name="part2" scale="0.00050688 0.00050688 0.00050688" />
    <mesh file="chair_ivar_0668/1.stl" name="part1" scale="0.00050688 0.00050688 0.00050688" />
  </asset>
  <equality>
    <weld active="false" body1="0_part0" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="0_part0" body2="2_part2" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="4_part4" body2="1_part1" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="3_part3" body2="1_part1" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="2_part2" body2="1_part1" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="0_part0" body2="4_part4" solimp="1 1 0.5" solref="0.01 0.3" />
  </equality>
  <worldbody>
    <body name="0_part0" pos="-0.0 0.0 0.0" quat="1 0 0 0">
      <geom conaffinity="0" contype="0" density="0" mesh="part0" name="0_part0_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
      <site name="0_part0_horizontal_radius_site" pos="-0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="0_part0_top_site" pos="0.0 0.0 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="0_part0_bottom_site" pos="0.0 0.0 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="0_part0_corner_site8" pos="-0.009656063999999999 0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site7" pos="0.009656063999999999 0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site6" pos="0.009656063999999999 -0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site5" pos="-0.009656063999999999 -0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site4" pos="-0.009656063999999999 0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site3" pos="0.009656063999999999 0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site2" pos="0.009656063999999999 -0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="0_part0_corner_site1" pos="-0.009656063999999999 -0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <geom density="50" name="noviz_collision_0_part0_0" pos="0.0 0.10897919999999998 0.164736" quat="0.9973708 -0.07246746 0 0" rgba="0 0 0 0" size="0.007603199999999998 0.009630719999999997 0.1317888" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_1" pos="0.0 0.09073152 -0.13128192" quat="1 0 0 0" rgba="0 0 0 0" size="0.007603199999999998 0.009630719999999997 0.164736" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_2" pos="0.0 -0.12824064 -0.17183231999999998" quat="1 0 0 0" rgba="0 0 0 0" size="0.007603199999999998 0.0088704 0.12418559999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_3" pos="0.0 -0.01976832 -0.06234624" quat="1 0 0 0" rgba="0 0 0 0" size="0.006335999999999999 0.09884159999999999 0.0139392" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_4" pos="0.0 -0.01976832 -0.23215104" quat="1 0 0 0" rgba="0 0 0 0" size="0.005068799999999999 0.09884159999999999 0.006335999999999999" solref="0.001 1" type="box" />
      <site name="lleg-back,0,conn_site2" pos="-0.009732095999999999 0.12722688 0.2445696" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
      <site name="lleg-back,0,conn_site1" pos="-0.009123839999999998 0.10502553599999999 0.12352665599999997" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
      <site name="lleg-seat,0,conn_site1" pos="-0.009630719999999997 0.08921087999999998 -0.05981183999999999" quat="1 0 0 0" rgba="0.2352 0.7058 0.2941 0.3" size="0.0088" />
    </body>
    <body name="4_part4" pos="-0.115872764806656 -0.026949470625791998 -0.05861101639219199" quat="1 0 0 0">
      <geom conaffinity="0" contype="0" density="0" mesh="part4" name="4_part4_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
      <site name="4_part4_horizontal_radius_site" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="4_part4_top_site" pos="0.0 0.0 0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="4_part4_bottom_site" pos="0.0 0.0 -0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="4_part4_corner_site8" pos="-0.13840358699059196 0.123919537522176 0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site7" pos="0.13840358699059196 0.123919537522176 0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site6" pos="0.13840358699059196 -0.123919537522176 0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site5" pos="-0.13840358699059196 -0.123919537522176 0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site4" pos="-0.13840358699059196 0.123919537522176 -0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site3" pos="0.13840358699059196 0.123919537522176 -0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site2" pos="0.13840358699059196 -0.123919537522176 -0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="4_part4_corner_site1" pos="-0.13840358699059196 -0.123919537522176 -0.019312131091968" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <geom density="50" name="noviz_collision_4_part4_0" pos="0.0 -0.008025248563199998 0.015526215936" quat="1 0 0 0" rgba="0 0 0 0" size="0.138403584 0.114048 0.00329472" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_1" pos="0.0 -0.100784268288 -0.005255864063999999" quat="1 0 0 0" rgba="0 0 0 0" size="0.10391039999999999 0.006335999999999999 0.011911679999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_2" pos="0.0 0.11768101171199999 -0.003380408064" quat="1 0 0 0" rgba="0 0 0 0" size="0.10391039999999999 0.006335999999999999 0.015206399999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_3" pos="0.0 0.11768101171199999 0.009139527936" quat="1 0 0 0" rgba="0 0 0 0" size="0.10391039999999999 0.005068799999999999 0.00329472" solref="0.001 1" type="box" />
      <site name="seat-rleg,0,conn_site1" pos="-0.105633792 0.11717544959999998 -0.0022150655999999993" quat="1 0 0 0" rgba="1.0 0.8823 0.0980 0.3" size="0.0088" />
      <site name="seat-lleg,0,conn_site1" pos="0.10624204799999999 0.11616168959999999 -0.0012013056" quat="1 0 0 0" rgba="0.2352 0.7058 0.2941 0.3" size="0.0088" />
    </body>
    <body name="3_part3" pos="-0.115872961577472 0.12518058795264 0.244362872590848" quat="1 0 0 0">
      <geom conaffinity="0" contype="0" density="0" mesh="part3" name="3_part3_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
      <site name="3_part3_horizontal_radius_site" pos="0.0 -0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="3_part3_top_site" pos="0.0 0.0 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="3_part3_bottom_site" pos="0.0 0.0 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="3_part3_corner_site8" pos="-0.11587257771724797 0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site7" pos="0.11587257771724797 0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site6" pos="0.11587257771724797 -0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site5" pos="-0.11587257771724797 -0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site4" pos="-0.11587257771724797 0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site3" pos="0.11587257771724797 0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site2" pos="0.11587257771724797 -0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="3_part3_corner_site1" pos="-0.11587257771724797 -0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <geom density="50" name="noviz_collision_3_part3_0" pos="-0.053424949248 1.8769766399999998e-05 0.0014739259391999997" quat="0.9965003 -0.071306 -0.003113293 0.0435083" rgba="0 0 0 0" size="0.05322239999999999 0.006335999999999999 0.015206399999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_3_part3_1" pos="0.05149921075199999 1.8769766399999998e-05 0.0014739259391999997" quat="0.9965003 -0.07130595 0.003113286 -0.04350817" rgba="0 0 0 0" size="0.05322239999999999 0.006335999999999999 0.015206399999999997" solref="0.001 1" type="box" />
      <site name="back-lleg,0,conn_site2" pos="0.10614067199999998 0.0020477952 0.0002078208" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
      <site name="back-rleg,0,conn_site1" pos="-0.107255808 -0.005403340799999999 0.0006133247999999999" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.0088" />
    </body>
    <body name="2_part2" pos="-0.115872961577472 0.10729661295513598 0.12332352378931201" quat="1 0 0 0">
      <geom conaffinity="0" contype="0" density="0" mesh="part2" name="2_part2_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
      <site name="2_part2_horizontal_radius_site" pos="0.0 -0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="2_part2_top_site" pos="0.0 0.0 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="2_part2_bottom_site" pos="0.0 0.0 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="2_part2_corner_site8" pos="-0.11587257771724797 0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site7" pos="0.11587257771724797 0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site6" pos="0.11587257771724797 -0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site5" pos="-0.11587257771724797 -0.011540832754176 0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site4" pos="-0.11587257771724797 0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site3" pos="0.11587257771724797 0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site2" pos="0.11587257771724797 -0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="2_part2_corner_site1" pos="-0.11587257771724797 -0.011540832754176 -0.016096455581183996" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <geom density="50" name="noviz_collision_2_part2_0" pos="-0.051904309248 0.00016194815999999996 1.1475763199999998e-05" quat="0.9965003 -0.071306 -0.003113293 0.0435083" rgba="0 0 0 0" size="0.05322239999999999 0.006335999999999999 0.015206399999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_2_part2_1" pos="0.053019850752 0.00016194815999999996 1.1475763199999998e-05" quat="0.9965003 -0.07130595 0.003113286 -0.04350817" rgba="0 0 0 0" size="0.05322239999999999 0.006335999999999999 0.015206399999999997" solref="0.001 1" type="box" />
      <site name="back-lleg,0,conn_site1" pos="0.10674892799999999 -0.0022708223999999997 0.000202752" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.0088" />
      <site name="back-rleg,0,conn_site2" pos="-0.10588723199999998 -0.004855910399999999 -0.00030412799999999997" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.0088" />
    </body>
    <body name="1_part1" pos="-0.231745536 0.0 0.0" quat="1 0 0 0">
      <geom conaffinity="0" contype="0" density="0" mesh="part1" name="1_part1_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
      <site name="1_part1_horizontal_radius_site" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="1_part1_top_site" pos="0.0 0.0 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="1_part1_bottom_site" pos="0.0 0.0 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.0088" />
      <site name="1_part1_corner_site8" pos="-0.009656063999999999 0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site7" pos="0.009656063999999999 0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site6" pos="0.009656063999999999 -0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site5" pos="-0.009656063999999999 -0.137994305619456 0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site4" pos="-0.009656063999999999 0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site3" pos="0.009656063999999999 0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site2" pos="0.009656063999999999 -0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <site name="1_part1_corner_site1" pos="-0.009656063999999999 -0.137994305619456 -0.296793925300224" quat="1 0 0 0" rgba="0 0 0 0" size="0.010137599999999998" />
      <geom density="50" name="noviz_collision_1_part1_0" pos="0.0001013810688 0.10897919999999998 0.164736" quat="0.9973708 -0.07246746 0 0" rgba="0 0 0 0" size="0.007603199999999998 0.009630719999999997 0.1317888" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_1" pos="0.0001013810688 0.09073152 -0.13128192" quat="1 0 0 0" rgba="0 0 0 0" size="0.007603199999999998 0.009630719999999997 0.164736" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_2" pos="0.0001013810688 -0.12824064 -0.17183231999999998" quat="1 0 0 0" rgba="0 0 0 0" size="0.007603199999999998 0.0088704 0.12418559999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_3" pos="0.0001013810688 -0.01976832 -0.06234624" quat="1 0 0 0" rgba="0 0 0 0" size="0.006335999999999999 0.09884159999999999 0.0139392" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_4" pos="0.0001013810688 -0.01976832 -0.23215104" quat="1 0 0 0" rgba="0 0 0 0" size="0.005068799999999999 0.09884159999999999 0.006335999999999999" solref="0.001 1" type="box" />
      <site name="rleg-back,0,conn_site2" pos="0.009985535999999998 0.10244044799999999 0.12301977599999998" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.0088" />
      <site name="rleg-back,0,conn_site1" pos="0.008616959999999998 0.11977574399999998 0.244975104" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.0088" />
      <site name="rleg-seat,0,conn_site1" pos="0.010238975999999997 0.09022463999999998 -0.06082559999999999" quat="1 0 0 0" rgba="1.0 0.8823 0.0980 0.3" size="0.0088" />
    </body>
  </worldbody>
  <actuator />
  <sensor />
  <contact />
  <default />
</mujoco>
