<mujoco model="chair_ivar_0668">
  <asset>
    <mesh file="chair_ivar_0668/0.stl" name="part0" scale="0.000576 0.000576 0.000576" />
    <mesh file="chair_ivar_0668/4.stl" name="part4" scale="0.000576 0.000576 0.000576" />
    <mesh file="chair_ivar_0668/3.stl" name="part3" scale="0.000576 0.000576 0.000576" />
    <mesh file="chair_ivar_0668/2.stl" name="part2" scale="0.000576 0.000576 0.000576" />
    <mesh file="chair_ivar_0668/1.stl" name="part1" scale="0.000576 0.000576 0.000576" />
  </asset>
  <equality>
    <weld active="false" body1="0_part0" body2="1_part1" 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="0_part0" body2="3_part3" 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" />
    <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="2_part2" body2="3_part3" 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="3_part3" 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="0.01" />
      <site name="0_part0_top_site" pos="0.0 0.0 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="0_part0_bottom_site" pos="0.0 0.0 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="0_part0_corner_site8" pos="-0.010972799999999998 0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site7" pos="0.010972799999999998 0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site6" pos="0.010972799999999998 -0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site5" pos="-0.010972799999999998 -0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site4" pos="-0.010972799999999998 0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site3" pos="0.010972799999999998 0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site2" pos="0.010972799999999998 -0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="0_part0_corner_site1" pos="-0.010972799999999998 -0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <geom density="50" name="noviz_collision_0_part0_0" pos="0.0 0.12383999999999998 0.18719999999999998" quat="0.9973708 -0.07246746 0 0" rgba="0 0 0 0" size="0.008639999999999998 0.010943999999999997 0.14976" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_1" pos="0.0 0.10310399999999999 -0.14918399999999998" quat="1 0 0 0" rgba="0 0 0 0" size="0.008639999999999998 0.010943999999999997 0.18719999999999998" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_2" pos="0.0 -0.145728 -0.195264" quat="1 0 0 0" rgba="0 0 0 0" size="0.008639999999999998 0.01008 0.14111999999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_3" pos="0.0 -0.022463999999999998 -0.070848" quat="1 0 0 0" rgba="0 0 0 0" size="0.007199999999999999 0.11231999999999999 0.01584" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_0_part0_4" pos="0.0 -0.022463999999999998 -0.263808" quat="1 0 0 0" rgba="0 0 0 0" size="0.0057599999999999995 0.11231999999999999 0.007199999999999999" solref="0.001 1" type="box" />
      <site name="lleg-back,0,conn_site2" pos="-0.011059199999999998 0.14457599999999998 0.27792" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="lleg-back,0,conn_site1" pos="-0.010367999999999997 0.11934719999999999 0.14037119999999997" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="lleg-seat,0,conn_site1" pos="-0.010943999999999997 0.10137599999999998 -0.06796799999999999" quat="1 0 0 0" rgba="0.2352 0.7058 0.2941 0.3" size="0.01" />
    </body>
    <body name="1_part1" pos="-0.2633472 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="0.01" />
      <site name="1_part1_top_site" pos="0.0 0.0 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="1_part1_bottom_site" pos="0.0 0.0 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="1_part1_corner_site8" pos="-0.010972799999999998 0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site7" pos="0.010972799999999998 0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site6" pos="0.010972799999999998 -0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site5" pos="-0.010972799999999998 -0.1568117109312 0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site4" pos="-0.010972799999999998 0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site3" pos="0.010972799999999998 0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site2" pos="0.010972799999999998 -0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="1_part1_corner_site1" pos="-0.010972799999999998 -0.1568117109312 -0.3372658242048" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <geom density="50" name="noviz_collision_1_part1_0" pos="0.00011520575999999999 0.12383999999999998 0.18719999999999998" quat="0.9973708 -0.07246746 0 0" rgba="0 0 0 0" size="0.008639999999999998 0.010943999999999997 0.14976" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_1" pos="0.00011520575999999999 0.10310399999999999 -0.14918399999999998" quat="1 0 0 0" rgba="0 0 0 0" size="0.008639999999999998 0.010943999999999997 0.18719999999999998" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_2" pos="0.00011520575999999999 -0.145728 -0.195264" quat="1 0 0 0" rgba="0 0 0 0" size="0.008639999999999998 0.01008 0.14111999999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_3" pos="0.00011520575999999999 -0.022463999999999998 -0.070848" quat="1 0 0 0" rgba="0 0 0 0" size="0.007199999999999999 0.11231999999999999 0.01584" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_1_part1_4" pos="0.00011520575999999999 -0.022463999999999998 -0.263808" quat="1 0 0 0" rgba="0 0 0 0" size="0.0057599999999999995 0.11231999999999999 0.007199999999999999" solref="0.001 1" type="box" />
      <site name="rleg-back,0,conn_site2" pos="0.011347199999999998 0.11640959999999999 0.13979519999999998" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.01" />
      <site name="rleg-back,0,conn_site1" pos="0.009791999999999999 0.13610879999999997 0.2783808" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.01" />
      <site name="rleg-seat,0,conn_site1" pos="0.011635199999999997 0.10252799999999998 -0.06911999999999999" quat="1 0 0 0" rgba="1.0 0.8823 0.0980 0.3" size="0.01" />
    </body>
    <body name="4_part4" pos="-0.1316735963712 -0.030624398438399997 -0.06660342771839999" 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="0.01" />
      <site name="4_part4_top_site" pos="0.0 0.0 0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="4_part4_bottom_site" pos="0.0 0.0 -0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="4_part4_corner_site8" pos="-0.15727680339839997 0.1408176562752 0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site7" pos="0.15727680339839997 0.1408176562752 0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site6" pos="0.15727680339839997 -0.1408176562752 0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site5" pos="-0.15727680339839997 -0.1408176562752 0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site4" pos="-0.15727680339839997 0.1408176562752 -0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site3" pos="0.15727680339839997 0.1408176562752 -0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site2" pos="0.15727680339839997 -0.1408176562752 -0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="4_part4_corner_site1" pos="-0.15727680339839997 -0.1408176562752 -0.021945603513599997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <geom density="50" name="noviz_collision_4_part4_0" pos="0.0 -0.009119600639999998 0.0176434272" quat="1 0 0 0" rgba="0 0 0 0" size="0.1572768 0.1296 0.003744" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_1" pos="0.0 -0.1145275776 -0.005972572799999998" quat="1 0 0 0" rgba="0 0 0 0" size="0.11807999999999999 0.007199999999999999 0.013535999999999998" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_2" pos="0.0 0.1337284224 -0.0038413728" quat="1 0 0 0" rgba="0 0 0 0" size="0.11807999999999999 0.007199999999999999 0.017279999999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_4_part4_3" pos="0.0 0.1337284224 0.0103858272" quat="1 0 0 0" rgba="0 0 0 0" size="0.11807999999999999 0.0057599999999999995 0.003744" solref="0.001 1" type="box" />
      <site name="seat-rleg,0,conn_site1" pos="-0.1200384 0.13315391999999998 -0.0025171199999999994" quat="1 0 0 0" rgba="1.0 0.8823 0.0980 0.3" size="0.01" />
      <site name="seat-lleg,0,conn_site1" pos="0.12072959999999999 0.13200192 -0.0013651199999999998" quat="1 0 0 0" rgba="0.2352 0.7058 0.2941 0.3" size="0.01" />
    </body>
    <body name="3_part3" pos="-0.1316738199744 0.142250668128 0.2776850824896" 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="0.01" />
      <site name="3_part3_top_site" pos="0.0 0.0 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="3_part3_bottom_site" pos="0.0 0.0 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="3_part3_corner_site8" pos="-0.13167338376959997 0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site7" pos="0.13167338376959997 0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site6" pos="0.13167338376959997 -0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site5" pos="-0.13167338376959997 -0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site4" pos="-0.13167338376959997 0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site3" pos="0.13167338376959997 0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site2" pos="0.13167338376959997 -0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="3_part3_corner_site1" pos="-0.13167338376959997 -0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <geom density="50" name="noviz_collision_3_part3_0" pos="-0.0607101696 2.1329279999999998e-05 0.0016749158399999998" quat="0.9965003 -0.071306 -0.003113293 0.0435083" rgba="0 0 0 0" size="0.060479999999999985 0.007199999999999999 0.017279999999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_3_part3_1" pos="0.05852183039999999 2.1329279999999998e-05 0.0016749158399999998" quat="0.9965003 -0.07130595 0.003113286 -0.04350817" rgba="0 0 0 0" size="0.060479999999999985 0.007199999999999999 0.017279999999999997" solref="0.001 1" type="box" />
      <site name="back-lleg,0,conn_site2" pos="0.12061439999999997 0.00232704 0.00023616" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="back-rleg,0,conn_site1" pos="-0.12188159999999999 -0.006140159999999999 0.0006969599999999998" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.01" />
    </body>
    <body name="2_part2" pos="-0.1316738199744 0.12192796926719998 0.1401403679424" 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="0.01" />
      <site name="2_part2_top_site" pos="0.0 0.0 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="2_part2_bottom_site" pos="0.0 0.0 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.01" />
      <site name="2_part2_corner_site8" pos="-0.13167338376959997 0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site7" pos="0.13167338376959997 0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site6" pos="0.13167338376959997 -0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site5" pos="-0.13167338376959997 -0.0131145826752 0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site4" pos="-0.13167338376959997 0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site3" pos="0.13167338376959997 0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site2" pos="0.13167338376959997 -0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <site name="2_part2_corner_site1" pos="-0.13167338376959997 -0.0131145826752 -0.018291426796799997" quat="1 0 0 0" rgba="0 0 0 0" size="0.011519999999999999" />
      <geom density="50" name="noviz_collision_2_part2_0" pos="-0.058982169599999995 0.00018403199999999996 1.3040639999999998e-05" quat="0.9965003 -0.071306 -0.003113293 0.0435083" rgba="0 0 0 0" size="0.060479999999999985 0.007199999999999999 0.017279999999999997" solref="0.001 1" type="box" />
      <geom density="50" name="noviz_collision_2_part2_1" pos="0.060249830399999996 0.00018403199999999996 1.3040639999999998e-05" quat="0.9965003 -0.07130595 0.003113286 -0.04350817" rgba="0 0 0 0" size="0.060479999999999985 0.007199999999999999 0.017279999999999997" solref="0.001 1" type="box" />
      <site name="back-lleg,0,conn_site1" pos="0.12130559999999999 -0.0025804799999999996 0.0002304" quat="1 0 0 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="back-rleg,0,conn_site2" pos="-0.12032639999999999 -0.005518079999999999 -0.00034559999999999994" quat="1 0 0 0" rgba="0.2627 0.3882 0.8470 0.3" size="0.01" />
    </body>

  </worldbody>
<actuator /><sensor /><contact /><default /></mujoco>