<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3796b24104f9ce11 -->
<mujoco model="anymal">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="anymal_material" rgba="0.7 0.7 0.7 1.0" />
    <mesh name="anymal_base_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_base.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_hip_l_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_thigh_l_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_shank_l_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_foot_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_hip_r_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_thigh_r_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001" />
    <mesh name="anymal_shank_r_0p001_0p001_0p001" file="anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="base">
      <geom name="base_vis_0" type="mesh" mesh="anymal_base_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
      <geom name="base_col_0" type="box" size="0.2655 0.135 0.12" pos="0.0 0.0 0.08" group="3" />
      <geom name="base_col_1" type="cylinder" size="0.05 0.05" pos="0.227 0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
      <geom name="base_col_2" type="cylinder" size="0.05 0.05" pos="0.227 -0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
      <geom name="base_col_3" type="cylinder" size="0.05 0.05" pos="-0.227 0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
      <geom name="base_col_4" type="cylinder" size="0.05 0.05" pos="-0.227 -0.116 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
      <geom name="base_col_5" type="box" size="0.05 0.05 0.035" pos="0.2155 0.0 -0.09" group="3" />
      <geom name="base_col_6" type="box" size="0.05 0.05 0.035" pos="-0.2155 0.0 -0.09" group="3" />
      <geom name="base_col_7" type="box" size="0.2655 0.01 0.035" pos="0.0 0.0 -0.09" group="3" />
      <body name="base_inertia">
        <inertial pos="-0.001960558279 -0.001413217745 0.050207125344" mass="16.793507758" fullinertia="0.217391101503 0.639432546734 0.62414077654 -0.00132873239126 -0.00228200226173 -0.00138078263145" />
      </body>
      <body name="LF_HIP" pos="0.277 0.116 0.0">
        <joint name="LF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
        <inertial pos="0.064516258147 -0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 -1.53023971e-05 -2.1819095354e-05 2.6473021273e-05" />
        <geom name="LF_HIP_vis_0" type="mesh" mesh="anymal_hip_l_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
        <geom name="LF_HIP_col_0" type="cylinder" size="0.08 0.05" pos="0.0635 -0.009 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
        <geom name="LF_HIP_col_1" type="cylinder" size="0.045 0.015" pos="0.0635 -0.074 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
        <body name="LF_THIGH" pos="0.0635 0.041 0.0">
          <joint name="LF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
          <inertial pos="-0.003897968082 0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 6.762065206e-05 0.000287806340448 -0.00140610131218" />
          <geom name="LF_THIGH_vis_0" type="mesh" mesh="anymal_thigh_l_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
          <geom name="LF_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 0.035 -0.125" quat="0.9973730259718263 0.07243650366909361 0.0 0.0" group="3" />
          <geom name="LF_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
          <geom name="LF_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 -0.005 0.0" quat="0.6540288870892167 0.7564695729854841 0.0 0.0" group="3" />
          <body name="LF_SHANK" pos="0.0 0.109 -0.25">
            <joint name="LF_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
            <inertial pos="0.030816858139 -0.004617229294 0.000893125713" mass="0.207204302" fullinertia="0.0002104880248 0.000676270210023 0.000545032674924 -5.6750980345e-05 1.0127699391e-05 -8.22869024e-07" />
            <geom name="LF_SHANK_vis_0" type="mesh" mesh="anymal_shank_l_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
            <geom name="LF_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="0.065 -0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
            <body name="LF_ADAPTER" pos="0.1 -0.02 0.0">
              <inertial pos="-8.66e-10 -1.472e-09 -0.244345749188" mass="0.140170767" fullinertia="0.00159938741862 0.00159938741932 5.4423177329e-05 -9.32e-13 1.039e-11 1.7563e-11" />
              <geom name="LF_ADAPTER_vis_0" type="mesh" mesh="anymal_foot_0p001_0p001_0p001" pos="0.0 0.0 0.032" contype="0" conaffinity="0" group="2" material="anymal_material" />
              <geom name="LF_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
              <body name="LF_FOOT" pos="0.0 0.0 -0.32125">
                <geom name="LF_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RF_HIP" pos="0.277 -0.116 0.0">
        <joint name="RF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
        <inertial pos="0.064516258147 0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 1.53023971e-05 -2.1819095354e-05 -2.6473021273e-05" />
        <geom name="RF_HIP_vis_0" type="mesh" mesh="anymal_hip_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
        <geom name="RF_HIP_col_0" type="cylinder" size="0.08 0.05" pos="0.0635 0.009 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
        <geom name="RF_HIP_col_1" type="cylinder" size="0.045 0.015" pos="0.0635 0.074 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
        <body name="RF_THIGH" pos="0.0635 -0.041 0.0">
          <joint name="RF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
          <inertial pos="-0.003897968082 -0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 -6.762065206e-05 0.000287806340448 0.00140610131218" />
          <geom name="RF_THIGH_vis_0" type="mesh" mesh="anymal_thigh_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
          <geom name="RF_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 -0.035 -0.125" quat="0.9973730259718263 -0.07243650366909361 0.0 0.0" group="3" />
          <geom name="RF_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 -0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
          <geom name="RF_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 0.005 0.0" quat="0.6540288870892167 -0.7564695729854841 0.0 0.0" group="3" />
          <body name="RF_SHANK" pos="0.0 -0.109 -0.25">
            <joint name="RF_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
            <inertial pos="0.030816858139 0.004617229294 0.000893125713" mass="0.207204302" fullinertia="0.0002104880248 0.000676270210023 0.000545032674924 5.6750980345e-05 1.0127699391e-05 8.22869024e-07" />
            <geom name="RF_SHANK_vis_0" type="mesh" mesh="anymal_shank_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="anymal_material" />
            <geom name="RF_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="0.065 0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
            <body name="RF_ADAPTER" pos="0.1 0.02 0.0">
              <inertial pos="-8.66e-10 -1.472e-09 -0.244345749188" mass="0.140170767" fullinertia="0.00159938741862 0.00159938741932 5.4423177329e-05 -9.32e-13 1.039e-11 1.7563e-11" />
              <geom name="RF_ADAPTER_vis_0" type="mesh" mesh="anymal_foot_0p001_0p001_0p001" pos="0.0 0.0 0.032" contype="0" conaffinity="0" group="2" material="anymal_material" />
              <geom name="RF_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
              <body name="RF_FOOT" pos="0.0 -0.0 -0.32125">
                <geom name="RF_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="LH_HIP" pos="-0.277 0.116 0.0">
        <joint name="LH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
        <inertial pos="-0.064516258147 -0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 1.53023971e-05 2.1819095354e-05 2.6473021273e-05" />
        <geom name="LH_HIP_vis_0" type="mesh" mesh="anymal_hip_r_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
        <geom name="LH_HIP_col_0" type="cylinder" size="0.08 0.05" pos="-0.0635 -0.009 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0" group="3" />
        <geom name="LH_HIP_col_1" type="cylinder" size="0.045 0.015" pos="-0.0635 -0.074 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0" group="3" />
        <body name="LH_THIGH" pos="-0.0635 0.041 0.0">
          <joint name="LH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
          <inertial pos="0.003897968082 0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 -6.762065206e-05 -0.000287806340448 -0.00140610131218" />
          <geom name="LH_THIGH_vis_0" type="mesh" mesh="anymal_thigh_r_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
          <geom name="LH_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 0.035 -0.125" quat="0.9973730259718263 0.07243650366909361 0.0 0.0" group="3" />
          <geom name="LH_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
          <geom name="LH_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 -0.005 0.0" quat="0.6540288870892167 0.7564695729854841 0.0 0.0" group="3" />
          <body name="LH_SHANK" pos="-0.0 0.109 -0.25">
            <joint name="LH_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
            <inertial pos="-0.030816858139 -0.004617229294 0.000893125713" mass="0.207204302" fullinertia="0.0002104880248 0.000676270210023 0.000545032674924 5.6750980345e-05 -1.0127699391e-05 -8.22869024e-07" />
            <geom name="LH_SHANK_vis_0" type="mesh" mesh="anymal_shank_r_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
            <geom name="LH_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="-0.065 -0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
            <body name="LH_ADAPTER" pos="-0.1 -0.02 0.0">
              <inertial pos="-8.66e-10 -1.472e-09 -0.244345749188" mass="0.140170767" fullinertia="0.00159938741862 0.00159938741932 5.4423177329e-05 -9.32e-13 1.039e-11 1.7563e-11" />
              <geom name="LH_ADAPTER_vis_0" type="mesh" mesh="anymal_foot_0p001_0p001_0p001" pos="0.0 0.0 0.032" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
              <geom name="LH_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
              <body name="LH_FOOT" pos="-0.0 0.0 -0.32125">
                <geom name="LH_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RH_HIP" pos="-0.277 -0.116 0.0">
        <joint name="RH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-9.42 9.42" />
        <inertial pos="-0.064516258147 0.003787101702 -0.000152184388" mass="1.42462064" fullinertia="0.00243023349564 0.00230257239103 0.0019806759227 -1.53023971e-05 2.1819095354e-05 -2.6473021273e-05" />
        <geom name="RH_HIP_vis_0" type="mesh" mesh="anymal_hip_l_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
        <geom name="RH_HIP_col_0" type="cylinder" size="0.08 0.05" pos="-0.0635 0.009 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0" group="3" />
        <geom name="RH_HIP_col_1" type="cylinder" size="0.045 0.015" pos="-0.0635 0.074 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0" group="3" />
        <body name="RH_THIGH" pos="-0.0635 -0.041 0.0">
          <joint name="RH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
          <inertial pos="0.003897968082 -0.054226618537 -0.214583373795" mass="1.634976467" fullinertia="0.0120367944369 0.0120643637939 0.00249422574881 6.762065206e-05 -0.000287806340448 0.00140610131218" />
          <geom name="RH_THIGH_vis_0" type="mesh" mesh="anymal_thigh_l_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
          <geom name="RH_THIGH_col_0" type="box" size="0.04 0.02 0.125" pos="0.0 -0.035 -0.125" quat="0.9973730259718263 -0.07243650366909361 0.0 0.0" group="3" />
          <geom name="RH_THIGH_col_1" type="cylinder" size="0.06 0.06" pos="0.0 -0.069 -0.25" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
          <geom name="RH_THIGH_col_2" type="cylinder" size="0.066 0.06" pos="0.0 0.005 0.0" quat="0.6540288870892167 -0.7564695729854841 0.0 0.0" group="3" />
          <body name="RH_SHANK" pos="-0.0 -0.109 -0.25">
            <joint name="RH_KFE" type="hinge" axis="0.0 1.0 0.0" range="-9.42 9.42" />
            <inertial pos="-0.030816858139 0.004617229294 0.000893125713" mass="0.207204302" fullinertia="0.0002104880248 0.000676270210023 0.000545032674924 -5.6750980345e-05 -1.0127699391e-05 8.22869024e-07" />
            <geom name="RH_SHANK_vis_0" type="mesh" mesh="anymal_shank_l_0p001_0p001_0p001" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
            <geom name="RH_SHANK_col_0" type="box" size="0.04 0.035 0.065" pos="-0.065 0.015 0.01" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
            <body name="RH_ADAPTER" pos="-0.1 0.02 0.0">
              <inertial pos="-8.66e-10 -1.472e-09 -0.244345749188" mass="0.140170767" fullinertia="0.00159938741862 0.00159938741932 5.4423177329e-05 -9.32e-13 1.039e-11 1.7563e-11" />
              <geom name="RH_ADAPTER_vis_0" type="mesh" mesh="anymal_foot_0p001_0p001_0p001" pos="0.0 0.0 0.032" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" material="anymal_material" />
              <geom name="RH_ADAPTER_col_0" type="cylinder" size="0.015 0.160625" pos="0.0 0.0 -0.160625" group="3" />
              <body name="RH_FOOT" pos="-0.0 -0.0 -0.32125">
                <geom name="RH_FOOT_col_0" type="sphere" size="0.031" pos="0.0 0.0 0.02325" group="3" />
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="base_inertia" />
    <exclude body1="base" body2="LF_HIP" />
    <exclude body1="LF_HIP" body2="LF_THIGH" />
    <exclude body1="LF_THIGH" body2="LF_SHANK" />
    <exclude body1="LF_SHANK" body2="LF_ADAPTER" />
    <exclude body1="LF_ADAPTER" body2="LF_FOOT" />
    <exclude body1="base" body2="RF_HIP" />
    <exclude body1="RF_HIP" body2="RF_THIGH" />
    <exclude body1="RF_THIGH" body2="RF_SHANK" />
    <exclude body1="RF_SHANK" body2="RF_ADAPTER" />
    <exclude body1="RF_ADAPTER" body2="RF_FOOT" />
    <exclude body1="base" body2="LH_HIP" />
    <exclude body1="LH_HIP" body2="LH_THIGH" />
    <exclude body1="LH_THIGH" body2="LH_SHANK" />
    <exclude body1="LH_SHANK" body2="LH_ADAPTER" />
    <exclude body1="LH_ADAPTER" body2="LH_FOOT" />
    <exclude body1="base" body2="RH_HIP" />
    <exclude body1="RH_HIP" body2="RH_THIGH" />
    <exclude body1="RH_THIGH" body2="RH_SHANK" />
    <exclude body1="RH_SHANK" body2="RH_ADAPTER" />
    <exclude body1="RH_ADAPTER" body2="RH_FOOT" />
  </contact>
</mujoco>
