<mujoco model="bench_bjursta_0210">
  <custom>
    <numeric data="0.05 0.20 0.01267 0.5 -0.5 0.5 -0.5" name="0_part0_initpos" />
    <numeric data="-0.26 0.30 0.01267 0.5 0.5 0.5 0.5" name="1_part1_initpos" />
    <numeric data="-0.26 0.20 0.01267 0.5 0.5 0.5 0.5" name="2_part2_initpos" />
    <numeric data="0.05 0.30 0.01267 0.5 -0.5 0.5 -0.5" name="3_part3_initpos" />
    <numeric data="-0.195 0.02 0.018623 0.0 1.0 0.0 0.0" name="4_part4_initpos" />
  </custom>
  <asset>
    <mesh file="bench_bjursta_0210/0.stl" name="part0" scale="0.0004 0.0004 0.0004" />
    <mesh file="bench_bjursta_0210/4.stl" name="part4" scale="0.0004 0.0004 0.0004" />
    <mesh file="bench_bjursta_0210/3.stl" name="part3" scale="0.0004 0.0004 0.0004" />
    <mesh file="bench_bjursta_0210/2.stl" name="part2" scale="0.0004 0.0004 0.0004" />
    <mesh file="bench_bjursta_0210/1.stl" name="part1" scale="0.0004 0.0004 0.0004" />
  </asset>
  <equality>
    <weld active="false" body1="0_part0" body2="4_part4" 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" />
    <weld active="false" body1="4_part4" body2="1_part1" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="1_part1" body2="4_part4" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="3_part3" body2="4_part4" solimp="1 1 0.5" solref="0.01 0.3" />
    <weld active="false" body1="2_part2" body2="4_part4" 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="-0.31 -0.08 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 group="1" name="0_part0_ltgt_site0" pos="-0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <site group="1" name="0_part0_rtgt_site0" pos="0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <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="0.02" />
      <site name="0_part0_top_site" pos="0.0 0.0 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="0_part0_bottom_site" pos="0.0 0.0 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="0_part0_corner_site8" pos="-0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site7" pos="0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site6" pos="0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site5" pos="-0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site4" pos="-0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site3" pos="0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site2" pos="0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="0_part0_corner_site1" pos="-0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="leg-top,0,90,180,270,conn_site1" pos="0. 0. 0.1" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <geom density="50" name="noviz_collision_0_part0_0" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.009 0.009 0.1" solref="0.001 1" type="box" />
    </body>
    <body name="4_part4" pos="0. 0. 0.1206499977" 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="0.02" />
      <site name="4_part4_top_site" pos="0.0 0.0 0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="4_part4_bottom_site" pos="0.0 0.0 -0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="4_part4_corner_site8" pos="-0.33 0.1 0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site7" pos="0.33 0.1 0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site6" pos="0.33 -0.1 0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site5" pos="-0.33 -0.1 0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site4" pos="-0.33 0.1 -0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site3" pos="0.33 0.1 -0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site2" pos="0.33 -0.1 -0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="4_part4_corner_site1" pos="-0.33 -0.1 -0.019" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="top-leg,0,90,180,270,conn_site1" pos="-0.31 -0.08 0.00785" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="top-leg,0,90,180,270,conn_site2" pos="-0.31 0.08 0.00785" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="top-leg,0,90,180,270,conn_site3" pos="0.31 -0.08 0.00785" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="top-leg,0,90,180,270,conn_site4" pos="0.31 0.08 0.00785" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <geom density="50" name="noviz_collision_4_part4_0" pos="0 0 0.01" quat="1 0 0 0" rgba="0 0 0 0" size="0.325 0.095 0.004" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_1" pos="-0.31 0.0 -0.005" quat="1 0 0 0" rgba="0 0 0 0" size="0.004 0.062 0.011" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_2" pos="0.31 0.0 -0.005" quat="1 0 0 0" rgba="0 0 0 0" size="0.004 0.062 0.011" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_3" pos="0 -0.08 -0.005" quat="1 0 0 0" rgba="0 0 0 0" size="0.29 0.004 0.011" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_4" pos="0 0.08 -0.005" quat="1 0 0 0" rgba="0 0 0 0" size="0.29 0.004 0.011" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_5" pos="-0.005 0.0 -0.005" quat="1 0 0 0" rgba="0 0 0 0" size="0.004 0.075 0.011" solref="0.001 1" type="box" />
    </body>
    <body name="3_part3" pos="0.31 0.08 0.0" 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 group="1" name="3_part3_ltgt_site0" pos="-0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <site group="1" name="3_part3_rtgt_site0" pos="0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <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="0.02" />
      <site name="3_part3_top_site" pos="0.0 0.0 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="3_part3_bottom_site" pos="0.0 0.0 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="3_part3_corner_site8" pos="-0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site7" pos="0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site6" pos="0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site5" pos="-0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site4" pos="-0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site3" pos="0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site2" pos="0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="3_part3_corner_site1" pos="-0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="leg-top,0,90,180,270,conn_site4" pos="0 0 0.1" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <geom density="50" name="noviz_collision_3_part3_0" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.009 0.009 0.1" solref="0.001 1" type="box" />
    </body>
    <body name="2_part2" pos="-0.31 -0.08 0.0" 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 group="1" name="2_part2_ltgt_site0" pos="-0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <site group="1" name="2_part2_rtgt_site0" pos="0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <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="0.02" />
      <site name="2_part2_top_site" pos="0.0 0.0 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="2_part2_bottom_site" pos="0.0 0.0 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="2_part2_corner_site8" pos="-0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site7" pos="0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site6" pos="0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site5" pos="-0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site4" pos="-0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site3" pos="0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site2" pos="0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="2_part2_corner_site1" pos="-0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="leg-top,0,90,180,270,conn_site3" pos="0 0 0.1" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <geom density="50" name="noviz_collision_2_part2_0" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.009 0.009 0.1" solref="0.001 1" type="box" />
    </body>
    <body name="1_part1" pos="0.31 -0.08 0.0" quat="1 0 0 0">
      <site group="1" name="1_part1_ltgt_site0" pos="-0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <site group="1" name="1_part1_rtgt_site0" pos="0.01 0 0" rgba="0 0 0 0" size="0.01 0.01 0.01" type="sphere" />
      <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="0.02" />
      <site name="1_part1_top_site" pos="0.0 0.0 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="1_part1_bottom_site" pos="0.0 0.0 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.02" />
      <site name="1_part1_corner_site8" pos="-0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site7" pos="0.01 0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site6" pos="0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site5" pos="-0.01 -0.01 0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site4" pos="-0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site3" pos="0.01 0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site2" pos="0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="1_part1_corner_site1" pos="-0.01 -0.01 -0.1" quat="1 0 0 0" rgba="0 0 0 0" size="0.00025" />
      <site name="leg-top,0,90,180,270,conn_site2" pos="0 0 0.1" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <geom density="50" name="noviz_collision_1_part1_0" pos="0.0 0.0 0.0" quat="1 0 0 0" rgba="0 0 0 0" size="0.009 0.009 0.1" solref="0.001 1" type="box" />
    </body>
  </worldbody>
  <actuator />
  <sensor />
  <contact />
  <default />
</mujoco>
