<mujoco model="tvunit_0406">
  <custom>
    <numeric data="-0.384165 0.272905 0.00497 0.999971 0.0 0.0 -0.007619" name="0_part0_initpos" />
    <numeric data="-0.33085 -0.206251 0.00497 0.99999 -0.0 0.0 -0.004369" name="1_part1_initpos" />
    <numeric data="0.554654 -0.223251 0.005073 0.707103 -0.002217 0.707103 0.002217" name="2_part2_initpos" />
    <numeric data="0.21867 -0.208788 0.00497 0.707105 0.001443 0.707105 -0.001443" name="3_part3_initpos" />
    <numeric data="0.47408 0.258903 0.00497 -0.0 -0.999894 0.014558 -0.0" name="4_part4_initpos" />
  </custom>
  <asset>
    <mesh file="tvunit_0406/botplane.stl" name="0_part0" scale="0.001 0.001 0.001" />
    <mesh file="tvunit_0406/midplane.stl" name="1_part1" scale="0.001 0.001 0.001" />
    <mesh file="tvunit_0406/sideplane1.stl" name="2_part2" scale="0.001 0.001 0.001" />
    <mesh file="tvunit_0406/sideplane2.stl" name="3_part3" scale="0.001 0.001 0.001" />
    <mesh file="tvunit_0406/topplane.stl" name="4_part4" scale="0.001 0.001 0.001" />
    <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
    <material name="pencil-wood" reflectance="0.5" texrepeat="20 20" texture="tex-light-wood" texuniform="true" />
  </asset>
  <equality>
    <weld active="false" body1="0_part0" body2="2_part2" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="0_part0" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="1_part1" body2="2_part2" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="1_part1" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="4_part4" body2="2_part2" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="4_part4" body2="3_part3" solimp="1 1 0.5" solref="0.01 0.3" />
  </equality>
  <worldbody>
    <body name="0_part0" pos="0.0 0.0 -0.132">
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      <geom density="100" name="noviz_collision_0_part0_geom" pos="0 0 0" size="0.38 0.19 0.005" solref="0.001 1" type="box" />
      <site name="0_part0_top_site" pos="0.0 0.0 0.005" rgba="0 0 1 0" size="0.005" />
      <site name="0_part0_bottom_site" pos="0.0 0.0 -0.005" rgba="0 0 1 0" size="0.005" />
      <site name="0_part0_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="0 0 1 0" size="0.05" />
      <site name="0_part0-2_part2,0,conn_site" pos="-0.3375 0.0 0.005" rgba="0.9019 0.0980 0.2941 0.3" size="0.012" />
      <site name="0_part0-3_part3,0,conn_site" pos="0.3375 0.0 0.005" rgba="0.2352 0.7058 0.2941 0.3" size="0.012" />
      <site name="0_part0_corner_site1" pos="-0.38 -0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site2" pos="-0.38 0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site3" pos="-0.38 -0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site4" pos="-0.38 0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site5" pos="0.38 -0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site6" pos="0.38 0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site7" pos="0.38 -0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="0_part0_corner_site8" pos="0.38 0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
    </body>
    <body name="1_part1" pos="0.0 0.0 0.0">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="1_part1" name="1_part1_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
      <geom density="100" name="noviz_collision_1_part1_geom" pos="0 0 0" size="0.33 0.19 0.005" solref="0.001 1" type="box" />
      <site name="1_part1_top_site" pos="0.0 0.0 0.005" rgba="0 0 1 0" size="0.005" />
      <site name="1_part1_bottom_site" pos="0.0 0.0 -0.005" rgba="0 0 1 0" size="0.005" />
      <site name="1_part1_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="0 0 1 0" size="0.05" />
      <site name="1_part1-2_part2,0,180,conn_site" pos="-0.331 0.0 0.0" quat="0.707 0 -0.707 0" rgba="1.0 0.8823 0.0980 0.3" size="0.012" />
      <site name="1_part1-3_part3,0,180,conn_site" pos="0.331 0.0 0.0" quat="0.707 0 -0.707 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.012" />
      <site name="1_part1_corner_site1" pos="-0.33 -0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site2" pos="-0.33 0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site3" pos="-0.33 -0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site4" pos="-0.33 0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site5" pos="0.33 -0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site6" pos="0.33 0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site7" pos="0.33 -0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="1_part1_corner_site8" pos="0.33 0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
    </body>
    <body name="2_part2" pos="-0.336 0.0 0.0">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="2_part2" name="2_part2_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
      <geom density="100" name="noviz_collision_2_part2_geom" pos="0 0 0" size="0.005  0.19  0.125" solref="0.001 1" type="box" />
      <site name="2_part2_top_site" pos="0.0 0.0 0.13" rgba="0 0 1 0" size="0.005" />
      <site name="2_part2_bottom_site" pos="0.0 0.0 -0.13" rgba="0 0 1 0" size="0.005" />
      <site name="2_part2_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="0 0 1 0" size="0.05" />
      <site name="2_part2-4_part4,0,conn_site" pos="0.0 0.0 0.125" rgba="0.9607 0.5098 0.1921 0.3" size="0.012" />
      <site name="2_part2-1_part1,0,180,conn_site" pos="0.006 0.0 0.0" quat="0.707 0 -0.707 0" rgba="1.0 0.8823 0.0980 0.3" size="0.012" />
      <site name="2_part2-0_part0,0,conn_site" pos="0.0 0.0 -0.125" rgba="0.9019 0.0980 0.2941 0.3" size="0.012" />
      <site name="2_part2_corner_site1" pos="0.005 0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site2" pos="0.005 -0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site3" pos="0.005 0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site4" pos="0.005 -0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site5" pos="-0.005 0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site6" pos="-0.005 -0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site7" pos="-0.005 0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="2_part2_corner_site8" pos="-0.005 -0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
    </body>
    <body name="3_part3" pos="0.3372 0.0 0.0">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="3_part3" name="3_part3_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
      <geom density="100" name="noviz_collision_3_part3_geom" pos="0 0 0" size="0.005  0.19  0.125" solref="0.001 1" type="box" />
      <site name="3_part3_top_site" pos="0.0 0.0 0.13" rgba="0 0 1 0" size="0.005" />
      <site name="3_part3_bottom_site" pos="0.0 0.0 -0.13" rgba="0 0 1 0" size="0.005" />
      <site name="3_part3_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="0 0 1 0" size="0.05" />
      <site name="3_part3-4_part4,0,conn_site" pos="0.0 0.0 0.125" rgba="0.5686 0.1176 0.7058 0.3" size="0.012" />
      <site name="3_part3-1_part1,0,180,conn_site" pos="-0.006 0.0 0.0" quat="0.707 0 -0.707 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.012" />
      <site name="3_part3-0_part0,0,conn_site" pos="0.0 0.0 -0.125" rgba="0.2352 0.7058 0.2941 0.3" size="0.012" />
      <site name="3_part3_corner_site1" pos="0.005 0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site2" pos="0.005 -0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site3" pos="0.005 0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site4" pos="0.005 -0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site5" pos="-0.005 0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site6" pos="-0.005 -0.19 -0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site7" pos="-0.005 0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
      <site name="3_part3_corner_site8" pos="-0.005 -0.19 0.125" rgba="0 0 1 0.3" size="0.005" />
    </body>
    <body name="4_part4" pos="0.0 0.0 0.1348">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="4_part4" name="4_part4_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
      <geom density="100" name="noviz_collision_4_part4_geom" pos="0 0 0" size="0.38  0.19  0.005 " solref="0.001 1" type="box" />
      <site name="4_part4_top_site" pos="0.0 0.0 0.005" rgba="0 0 1 0" size="0.005" />
      <site name="4_part4_bottom_site" pos="0.0 0.0 -0.005" rgba="0 0 1 0" size="0.005" />
      <site name="4_part4_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="0 0 1 0" size="0.05" />
      <site name="4_part4-2_part2,0,conn_site" pos="-0.3375 0.0 -0.005" rgba="0.9607 0.5098 0.1921 0.3" size="0.012" />
      <site name="4_part4-3_part3,0,conn_site" pos="0.3375 0.0 -0.005" rgba="0.5686 0.1176 0.7058 0.3" size="0.012" />
      <site name="4_part4_corner_site1" pos="-0.38 -0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site2" pos="-0.38 0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site3" pos="-0.38 -0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site4" pos="-0.38 0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site5" pos="0.38 -0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site6" pos="0.38 0.19 -0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site7" pos="0.38 -0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
      <site name="4_part4_corner_site8" pos="0.38 0.19 0.005" rgba="0 0 1 0.3" size="0.005" />
    </body>
  </worldbody>
  <actuator />
  <sensor />
  <contact />
  <default />
</mujoco>
