<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 67b76804e7884c09 -->
<mujoco model="a1">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="black" rgba="0.0 0.0 0.0 1.0" />
    <material name="blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="green" rgba="0.0 0.8 0.0 1.0" />
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <material name="silver" rgba="0.913725490196 0.913725490196 0.847058823529 1.0" />
    <material name="orange" rgba="1.0 0.423529411765 0.0392156862745 1.0" />
    <material name="brown" rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
    <material name="red" rgba="0.8 0.0 0.0 1.0" />
    <material name="white" rgba="1.0 1.0 1.0 1.0" />
    <mesh name="trunk" file="a1_description/meshes/trunk.dae" />
    <mesh name="hip" file="a1_description/meshes/hip.dae" />
    <mesh name="thigh_mirror" file="a1_description/meshes/thigh_mirror.dae" />
    <mesh name="calf" file="a1_description/meshes/calf.dae" />
    <mesh name="thigh" file="a1_description/meshes/thigh.dae" />
  </asset>
  <worldbody>
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      <body name="trunk">
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        <geom name="trunk_col_0" type="box" size="0.1335 0.097 0.057" group="3" />
        <body name="imu_link">
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          <geom name="imu_link_vis_0" type="box" size="0.0005 0.0005 0.0005" contype="0" conaffinity="0" group="2" material="red" />
          <geom name="imu_link_col_0" type="box" size="0.0005 0.0005 0.0005" group="3" />
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          <body name="FR_thigh_shoulder" pos="0.0 -0.081 0.0">
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            <geom name="FR_thigh_col_0" type="box" size="0.1 0.01225 0.017" pos="0.0 0.0 -0.1" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
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                <geom name="FR_foot_vis_0" type="sphere" size="0.01" contype="0" conaffinity="0" group="2" material="orange" />
                <geom name="FR_foot_col_0" type="sphere" size="0.02" group="3" />
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            </body>
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        <body name="FL_hip" pos="0.1805 0.047 0.0">
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          <inertial pos="-0.003311 0.000635 3.1e-05" mass="0.696" fullinertia="0.000469246 0.00080749 0.000552929 -9.409e-06 -3.42e-07 -4.66e-07" />
          <geom name="FL_hip_vis_0" type="mesh" mesh="hip" contype="0" conaffinity="0" group="2" material="orange" />
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            <geom name="FL_thigh_shoulder_col_0" type="cylinder" size="0.041 0.016" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
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          <body name="FL_thigh" pos="0.0 0.0838 0.0">
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                <geom name="FL_foot_vis_0" type="sphere" size="0.01" contype="0" conaffinity="0" group="2" material="orange" />
                <geom name="FL_foot_col_0" type="sphere" size="0.02" group="3" />
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            </body>
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        <body name="RR_hip" pos="-0.1805 -0.047 0.0">
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          <inertial pos="0.003311 -0.000635 3.1e-05" mass="0.696" fullinertia="0.000469246 0.00080749 0.000552929 -9.409e-06 3.42e-07 4.66e-07" />
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          <body name="RR_thigh_shoulder" pos="0.0 -0.081 0.0">
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          <body name="RR_thigh" pos="0.0 -0.0838 0.0">
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          <body name="RL_thigh" pos="0.0 0.0838 0.0">
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    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="trunk" />
    <exclude body1="trunk" body2="imu_link" />
    <exclude body1="trunk" body2="FR_hip" />
    <exclude body1="FR_hip" body2="FR_thigh_shoulder" />
    <exclude body1="FR_hip" body2="FR_thigh" />
    <exclude body1="FR_thigh" body2="FR_calf" />
    <exclude body1="FR_calf" body2="FR_foot" />
    <exclude body1="trunk" body2="FL_hip" />
    <exclude body1="FL_hip" body2="FL_thigh_shoulder" />
    <exclude body1="FL_hip" body2="FL_thigh" />
    <exclude body1="FL_thigh" body2="FL_calf" />
    <exclude body1="FL_calf" body2="FL_foot" />
    <exclude body1="trunk" body2="RR_hip" />
    <exclude body1="RR_hip" body2="RR_thigh_shoulder" />
    <exclude body1="RR_hip" body2="RR_thigh" />
    <exclude body1="RR_thigh" body2="RR_calf" />
    <exclude body1="RR_calf" body2="RR_foot" />
    <exclude body1="trunk" body2="RL_hip" />
    <exclude body1="RL_hip" body2="RL_thigh_shoulder" />
    <exclude body1="RL_hip" body2="RL_thigh" />
    <exclude body1="RL_thigh" body2="RL_calf" />
    <exclude body1="RL_calf" body2="RL_foot" />
  </contact>
</mujoco>
