<mujoco model="desk_mikael_1064">
  <custom>
    <numeric data="0.681998 -0.053785 0.00997 0.0 -0.707107 0.0 0.707107" name="1_part1_initpos" />
    <numeric data="-0.524391 -0.031642 0.010073 -0.000762 -0.707106 0.000762 -0.707106" name="0_part0_initpos" />
    <numeric data="0.079033 -0.044954 0.01197 0.0 -0.999892 0.014681 -0.0" name="3_part3_initpos" />
    <numeric data="0.069886 0.284708 0.00597 0.707105 -0.707105 0.001478 -0.001478" name="2_part2_initpos" />
  </custom>
  <asset>
    <mesh file="desk_mikael_1064/drawer.stl" name="drawer" scale="0.0005 0.0005 0.0005" />
    <mesh file="desk_mikael_1064/leftplane.stl" name="leftplane" scale="0.0005 0.0005 0.0005" />
    <mesh file="desk_mikael_1064/rightplane.stl" name="rightplane" scale="0.0005 0.0005 0.0005" />
    <mesh file="desk_mikael_1064/topplane.stl" name="topplane" scale="0.0005 0.0005 0.0005" />
    <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="3_part3" 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="2_part2" 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="1_part1" body2="2_part2" solimp="1 1 0.5" solref="0.01 0.3" />
  </equality>
  <worldbody>
    <body name="1_part1" pos="0.34 0.0 0.0">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="leftplane" 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="0.01 0.19 0.18" solref="0.001 1" type="box" />
      <site name="leftplane-drawer,0,180,conn_site" pos="-0.01 -0.1 0.135" quat="0.707 0 -0.707 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="leftplane-topplane,0,conn_site" pos="0.0 0.0 0.185" rgba="0.2352 0.7058 0.2941 0.3" size="0.01" />
      <site name="1_part1_bottom_site" pos="0.0 0.0 -0.18" rgba="0 0 1 0" size="0.005" />
      <site name="1_part1_top_site" pos="0.0 0.0 0.18" 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="0.1" />
      <site name="1_part1_corner_site1" pos="0.0125 -0.192 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site2" pos="0.0125 0.1925 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site3" pos="0.0125 -0.192 0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site4" pos="0.0125 0.1925 0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site5" pos="-0.012 -0.192 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site6" pos="-0.012 0.1925 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site7" pos="-0.012 -0.192 0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="1_part1_corner_site8" pos="-0.012 0.1925 0.185" rgba="0 0 1 0.3" size="0.0025" />
    </body>
    <body name="0_part0" pos="-0.34 0.0 0.0">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="rightplane" name="0_part0_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_0_part0_geom" pos="0 0 0" size="0.01 0.19 0.18" solref="0.001 1" type="box" />
      <site name="rightplane-drawer,0,180,conn_site" pos="0.01 -0.1 0.135" quat="0.707 0 -0.707 0" rgba="1.0 0.8823 0.0980 0.3" size="0.01" />
      <site name="rightplane-topplane,0,conn_site" pos="0.0 0.0 0.185" rgba="0.2627 0.3882 0.8470 0.3" size="0.01" />
      <site name="0_part0_bottom_site" pos="0.0 0.0 -0.18" rgba="0 0 1 0" size="0.005" />
      <site name="0_part0_top_site" pos="0.0 0.0 0.18" 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="0.1" />
      <site name="0_part0_corner_site1" pos="0.0125 -0.192 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site2" pos="0.0125 0.1925 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site3" pos="0.0125 -0.192 0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site4" pos="0.0125 0.1925 0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site5" pos="-0.012 -0.192 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site6" pos="-0.012 0.1925 -0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site7" pos="-0.012 -0.192 0.185" rgba="0 0 1 0.3" size="0.0025" />
      <site name="0_part0_corner_site8" pos="-0.012 0.1925 0.185" rgba="0 0 1 0.3" size="0.0025" />
    </body>
    <body name="3_part3" pos="0.0 0.0 0.19">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="topplane" name="3_part3_geom" pos="0 0 0" rgba="0.82 0.71 0.55 0" solref="0.001 1" type="mesh" />
      <geom density="100" name="noviz_collision_3_part3_geom" pos="0 0 0" size="0.35 0.19 0.012" solref="0.001 1" type="box" />
      <site name="topplane-rightplane,0,conn_site" pos="-0.34 0.0 -0.015" rgba="0.2627 0.3882 0.8470 0.3" size="0.01" />
      <site name="topplane-leftplane,0,conn_site" pos="0.34 0.0 -0.015" rgba="0.2352 0.7058 0.2941 0.3" size="0.01" />
      <site name="3_part3_bottom_site" pos="-0.34 0.0 0.0" rgba="0 0 1 0" size="0.005" />
      <site name="3_part3_top_site" pos="0.34 0.0 0.0" 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="0.2" />
      <site name="3_part3_corner_site1" pos="-0.352 0.1925 0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site2" pos="-0.352 -0.192 0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site3" pos="0.3525 0.1925 0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site4" pos="0.3525 -0.192 0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site5" pos="-0.352 0.1925 -0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site6" pos="-0.352 -0.192 -0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site7" pos="0.3525 0.1925 -0.015" rgba="0 0 1 0.3" size="0.0025" />
      <site name="3_part3_corner_site8" pos="0.3525 -0.192 -0.015" rgba="0 0 1 0.3" size="0.0025" />
    </body>
    <body name="2_part2" pos="0.0 -0.1 0.14">
      <geom conaffinity="0" contype="0" density="0" material="pencil-wood" mesh="drawer" 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="0.33 0.006 0.04" solref="0.001 1" type="box" />
      <site name="drawer-rightplane,0,180,conn_site" pos="-0.335 0.0 0.0" quat="0.707 0 -0.707 0" rgba="1.0 0.8823 0.0980 0.3" size="0.01" />
      <site name="drawer-leftplane,0,180,conn_site" pos="0.335 0.0 0.0" quat="0.707 0 -0.707 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="2_part2_bottom_site" pos="-0.35 0.0 0.0" rgba="0 0 1 0" size="0.005" />
      <site name="2_part2_top_site" pos="0.35 0.0 0.0" 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="0.1" />
      <site name="2_part2_corner_site1" pos="-0.335 -0.01 0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site2" pos="-0.335 -0.01 -0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site3" pos="-0.335 0.01 0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site4" pos="-0.335 0.01 -0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site5" pos="0.335 -0.01 0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site6" pos="0.335 -0.01 -0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site7" pos="0.335 0.01 0.045" rgba="0 0 1 0.3" size="0.0025" />
      <site name="2_part2_corner_site8" pos="0.335 0.01 -0.045" rgba="0 0 1 0.3" size="0.0025" />
    </body>
  </worldbody>
  <actuator />
  <sensor />
  <contact />
  <default />
</mujoco>
