<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 3cf6fd315c1c2462 -->
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    <exclude body1="FL_thigh" body2="FL_calf" />
    <exclude body1="FL_thigh" body2="FL_calf_rotor" />
    <exclude body1="FL_calf" body2="FL_foot" />
    <exclude body1="trunk" body2="RR_hip" />
    <exclude body1="trunk" body2="RR_hip_rotor" />
    <exclude body1="RR_hip" body2="RR_thigh" />
    <exclude body1="RR_hip" body2="RR_thigh_rotor" />
    <exclude body1="RR_thigh" body2="RR_calf" />
    <exclude body1="RR_thigh" body2="RR_calf_rotor" />
    <exclude body1="RR_calf" body2="RR_foot" />
    <exclude body1="trunk" body2="RL_hip" />
    <exclude body1="trunk" body2="RL_hip_rotor" />
    <exclude body1="RL_hip" body2="RL_thigh" />
    <exclude body1="RL_hip" body2="RL_thigh_rotor" />
    <exclude body1="RL_thigh" body2="RL_calf" />
    <exclude body1="RL_thigh" body2="RL_calf_rotor" />
    <exclude body1="RL_calf" body2="RL_foot" />
  </contact>
</mujoco>
