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<!-- generated by bam_robot_descriptions (mjcf backend), content 1f7d704a6f75e92d -->
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                      <body name="RF_shank_fixed" quat="0.7071067811882787 0.0 0.0 0.7071067811848163">
                        <inertial pos="0.03463 -0.00688 0.00098" mass="0.33742" fullinertia="0.00032748005 0.00110974122 0.00089388521 -2.142561e-05 1.33942e-05 -7.601e-08" />
                        <geom name="RF_shank_fixed_vis_0" type="mesh" mesh="shank_r" contype="0" conaffinity="0" group="2" />
                        <geom name="RF_shank_fixed_col_0" type="cylinder" size="0.06 0.02" pos="0.0 -0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
                        <geom name="RF_shank_fixed_col_1" type="box" size="0.057499 0.03375 0.02" pos="0.057499 -0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
                        <body name="RF_FOOT" pos="0.08795 -0.01305 -0.33797">
                          <inertial pos="0.00948 0.00948 0.1468" mass="0.25" fullinertia="0.00317174097 0.00317174092 8.319196e-05 -2.63048e-06 6.815581e-05 -6.815583e-05" />
                          <geom name="RF_FOOT_vis_0" type="mesh" mesh="foot" quat="0.9238795325113726 0.0 0.0 0.38268343236488267" contype="0" conaffinity="0" group="2" />
                          <geom name="RF_FOOT_col_0" type="cylinder" size="0.0175 0.141252" pos="0.0 0.0 0.168985" group="3" />
                          <geom name="RF_FOOT_col_1" type="sphere" size="0.03" pos="0.0 0.0 0.0225" group="3" />
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        <geom name="LH_HAA_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
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          <joint name="LH_HAA" type="hinge" axis="-1.0 0.0 0.0" range="-0.72 0.49" />
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              <geom name="LH_HFE_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
              <geom name="LH_HFE_col_0" type="cylinder" size="0.05 0.07" pos="-0.07 0.0 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0" group="3" />
              <body name="LH_THIGH">
                <joint name="LH_HFE" type="hinge" axis="1.0 0.0 0.0" range="-9.42477796077 9.42477796077" />
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                <body name="LH_thigh_fixed" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
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                  <geom name="LH_thigh_fixed_vis_0" type="mesh" mesh="thigh" contype="0" conaffinity="0" group="2" />
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                  <geom name="LH_thigh_fixed_col_1" type="box" size="0.0375 0.03 0.1413135" pos="0.0 0.03 -0.1413135" group="3" />
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                    <geom name="LH_KFE_vis_0" type="mesh" mesh="drive" contype="0" conaffinity="0" group="2" />
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                      <body name="LH_shank_fixed" quat="0.7071067811882787 0.0 0.0 -0.7071067811848163">
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                        <geom name="LH_shank_fixed_vis_0" type="mesh" mesh="shank_r" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" />
                        <geom name="LH_shank_fixed_col_0" type="cylinder" size="0.06 0.02" pos="0.0 0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
                        <geom name="LH_shank_fixed_col_1" type="box" size="0.057499 0.03375 0.02" pos="-0.057499 0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
                        <body name="LH_FOOT" pos="-0.08795 0.01305 -0.33797">
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                          <geom name="LH_FOOT_vis_0" type="mesh" mesh="foot" quat="0.38268343236617297 0.0 0.0 -0.9238795325108381" contype="0" conaffinity="0" group="2" />
                          <geom name="LH_FOOT_col_0" type="cylinder" size="0.0175 0.141252" pos="0.0 0.0 0.168985" group="3" />
                          <geom name="LH_FOOT_col_1" type="sphere" size="0.03" pos="0.0 0.0 0.0225" group="3" />
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                      </body>
                    </body>
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                </body>
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            </body>
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        </body>
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      <body name="RH_HAA" pos="-0.2999 -0.104 0.0" quat="-2.6764879543775668e-14 -9.988789031553318e-14 -0.9659258262888749 -0.25881904510324244">
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        <body name="RH_HIP">
          <joint name="RH_HAA" type="hinge" axis="-1.0 0.0 0.0" range="-0.49 0.72" />
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                        <geom name="RH_shank_fixed_vis_0" type="mesh" mesh="shank_l" quat="-1.0341155355510722e-13 0.0 -0.0 -1.0" contype="0" conaffinity="0" group="2" />
                        <geom name="RH_shank_fixed_col_0" type="cylinder" size="0.06 0.02" pos="0.0 -0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
                        <geom name="RH_shank_fixed_col_1" type="box" size="0.057499 0.03375 0.02" pos="-0.057499 -0.02 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" group="3" />
                        <body name="RH_FOOT" pos="-0.08795 -0.01305 -0.33797">
                          <inertial pos="-0.00948 0.00948 0.1468" mass="0.25" fullinertia="0.00317174097 0.00317174092 8.319196e-05 2.63048e-06 -6.815581e-05 -6.815583e-05" />
                          <geom name="RH_FOOT_vis_0" type="mesh" mesh="foot" quat="-0.38268343236636404 0.0 -0.0 -0.9238795325107589" contype="0" conaffinity="0" group="2" />
                          <geom name="RH_FOOT_col_0" type="cylinder" size="0.0175 0.141252" pos="0.0 0.0 0.168985" group="3" />
                          <geom name="RH_FOOT_col_1" type="sphere" size="0.03" pos="0.0 0.0 0.0225" group="3" />
                        </body>
                      </body>
                    </body>
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                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="hatch">
        <inertial pos="0.116 0.0 0.0758" mass="0.142" fullinertia="0.001 0.001 0.001 0.001 0.001 0.001" />
        <geom name="hatch_vis_0" type="mesh" mesh="hatch" pos="0.116 0.0 0.073" contype="0" conaffinity="0" group="2" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="base_inertia" />
    <exclude body1="base" body2="top_shell" />
    <exclude body1="base" body2="bottom_shell" />
    <exclude body1="base" body2="remote" />
    <exclude body1="base" body2="handle" />
    <exclude body1="base" body2="face_front" />
    <exclude body1="face_front" body2="depth_camera_front_camera" />
    <exclude body1="depth_camera_front_camera" body2="depth_camera_front_camera_parent" />
    <exclude body1="depth_camera_front_camera_parent" body2="depth_camera_front_depth_optical_frame" />
    <exclude body1="depth_camera_front_camera_parent" body2="depth_camera_front_color_frame" />
    <exclude body1="depth_camera_front_color_frame" body2="depth_camera_front_color_optical_frame" />
    <exclude body1="face_front" body2="wide_angle_camera_front_camera" />
    <exclude body1="wide_angle_camera_front_camera" body2="wide_angle_camera_front_camera_parent" />
    <exclude body1="base" body2="face_rear" />
    <exclude body1="face_rear" body2="depth_camera_rear_camera" />
    <exclude body1="depth_camera_rear_camera" body2="depth_camera_rear_camera_parent" />
    <exclude body1="depth_camera_rear_camera_parent" body2="depth_camera_rear_depth_optical_frame" />
    <exclude body1="depth_camera_rear_camera_parent" body2="depth_camera_rear_color_frame" />
    <exclude body1="depth_camera_rear_color_frame" body2="depth_camera_rear_color_optical_frame" />
    <exclude body1="face_rear" body2="wide_angle_camera_rear_camera" />
    <exclude body1="wide_angle_camera_rear_camera" body2="wide_angle_camera_rear_camera_parent" />
    <exclude body1="base" body2="battery" />
    <exclude body1="base" body2="docking_hatch_cover" />
    <exclude body1="base" body2="imu_link" />
    <exclude body1="base" body2="depth_camera_left_camera" />
    <exclude body1="depth_camera_left_camera" body2="depth_camera_left_camera_parent" />
    <exclude body1="depth_camera_left_camera_parent" body2="depth_camera_left_depth_optical_frame" />
    <exclude body1="depth_camera_left_camera_parent" body2="depth_camera_left_color_frame" />
    <exclude body1="depth_camera_left_color_frame" body2="depth_camera_left_color_optical_frame" />
    <exclude body1="base" body2="depth_camera_right_camera" />
    <exclude body1="depth_camera_right_camera" body2="depth_camera_right_camera_parent" />
    <exclude body1="depth_camera_right_camera_parent" body2="depth_camera_right_depth_optical_frame" />
    <exclude body1="depth_camera_right_camera_parent" body2="depth_camera_right_color_frame" />
    <exclude body1="depth_camera_right_color_frame" body2="depth_camera_right_color_optical_frame" />
    <exclude body1="base" body2="lidar_cage" />
    <exclude body1="lidar_cage" body2="lidar" />
    <exclude body1="base" body2="LF_HAA" />
    <exclude body1="LF_HAA" body2="LF_HIP" />
    <exclude body1="LF_HIP" body2="LF_hip_fixed" />
    <exclude body1="LF_hip_fixed" body2="LF_HFE" />
    <exclude body1="LF_HFE" body2="LF_THIGH" />
    <exclude body1="LF_THIGH" body2="LF_thigh_fixed" />
    <exclude body1="LF_thigh_fixed" body2="LF_KFE" />
    <exclude body1="LF_KFE" body2="LF_SHANK" />
    <exclude body1="LF_SHANK" body2="LF_shank_fixed" />
    <exclude body1="LF_shank_fixed" body2="LF_FOOT" />
    <exclude body1="base" body2="RF_HAA" />
    <exclude body1="RF_HAA" body2="RF_HIP" />
    <exclude body1="RF_HIP" body2="RF_hip_fixed" />
    <exclude body1="RF_hip_fixed" body2="RF_HFE" />
    <exclude body1="RF_HFE" body2="RF_THIGH" />
    <exclude body1="RF_THIGH" body2="RF_thigh_fixed" />
    <exclude body1="RF_thigh_fixed" body2="RF_KFE" />
    <exclude body1="RF_KFE" body2="RF_SHANK" />
    <exclude body1="RF_SHANK" body2="RF_shank_fixed" />
    <exclude body1="RF_shank_fixed" body2="RF_FOOT" />
    <exclude body1="base" body2="LH_HAA" />
    <exclude body1="LH_HAA" body2="LH_HIP" />
    <exclude body1="LH_HIP" body2="LH_hip_fixed" />
    <exclude body1="LH_hip_fixed" body2="LH_HFE" />
    <exclude body1="LH_HFE" body2="LH_THIGH" />
    <exclude body1="LH_THIGH" body2="LH_thigh_fixed" />
    <exclude body1="LH_thigh_fixed" body2="LH_KFE" />
    <exclude body1="LH_KFE" body2="LH_SHANK" />
    <exclude body1="LH_SHANK" body2="LH_shank_fixed" />
    <exclude body1="LH_shank_fixed" body2="LH_FOOT" />
    <exclude body1="base" body2="RH_HAA" />
    <exclude body1="RH_HAA" body2="RH_HIP" />
    <exclude body1="RH_HIP" body2="RH_hip_fixed" />
    <exclude body1="RH_hip_fixed" body2="RH_HFE" />
    <exclude body1="RH_HFE" body2="RH_THIGH" />
    <exclude body1="RH_THIGH" body2="RH_thigh_fixed" />
    <exclude body1="RH_thigh_fixed" body2="RH_KFE" />
    <exclude body1="RH_KFE" body2="RH_SHANK" />
    <exclude body1="RH_SHANK" body2="RH_shank_fixed" />
    <exclude body1="RH_shank_fixed" body2="RH_FOOT" />
    <exclude body1="base" body2="hatch" />
  </contact>
</mujoco>
