<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 837bfc0dfc24b22b -->
<mujoco model="b2_description">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="磨砂铝合金_011-effect" rgba="0.74876 0.74876 0.74876 1.0" />
    <material name="磨砂铝合金_008-effect" rgba="0.85 0.85 0.85 1.0" />
    <material name="磨砂铝合金_018-effect" rgba="0.74876 0.74876 0.74876 1.0" />
    <mesh name="base_link" file="b2_description/meshes/base_link.dae" />
    <mesh name="FL_hip" file="b2_description/meshes/FL_hip.dae" />
    <mesh name="FL_thigh" file="b2_description/meshes/FL_thigh.dae" />
    <mesh name="FL_calf" file="b2_description/meshes/FL_calf.dae" />
    <mesh name="FR_hip" file="b2_description/meshes/FR_hip.dae" />
    <mesh name="FR_thigh" file="b2_description/meshes/FR_thigh.dae" />
    <mesh name="FR_calf" file="b2_description/meshes/FR_calf.dae" />
    <mesh name="RL_hip" file="b2_description/meshes/RL_hip.dae" />
    <mesh name="RL_thigh" file="b2_description/meshes/RL_thigh.dae" />
    <mesh name="RL_calf" file="b2_description/meshes/RL_calf.dae" />
    <mesh name="RR_hip" file="b2_description/meshes/RR_hip.dae" />
    <mesh name="RR_thigh" file="b2_description/meshes/RR_thigh.dae" />
    <mesh name="RR_calf" file="b2_description/meshes/RR_calf.dae" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.000458 0.005261 0.000665" mass="35.86" fullinertia="0.27466 1.0618 1.1825 -0.000622 0.00315 -0.00139" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link" contype="0" conaffinity="0" group="2" material="磨砂铝合金_011-effect" />
      <geom name="base_link_col_0" type="box" size="0.25 0.14 0.075" group="3" />
      <body name="lidar_link" pos="0.34218 0.0 0.17851">
        <inertial pos="0.34218 0.0 0.17851" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -3.2e-45 7.68e-44 -9.26e-47" />
        <geom name="lidar_link_col_0" type="cylinder" size="0.076 0.08" pos="0.0 0.0 -0.02" group="3" />
      </body>
      <body name="f_dc_link" pos="0.41251 0.024997 0.04765" quat="0.270595753366195 -0.6532810280864045 0.653283427726018 -0.27059674732172273">
        <inertial pos="3.47e-18 0.0 5.55e-17" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -9.81e-45 -2.54e-44 0.0" />
      </body>
      <body name="r_dc_link" pos="-0.4081 -0.025 0.024861" quat="0.27075906516539805 -0.6532133587337356 -0.6532157581247853 0.2707600597208046">
        <inertial pos="-7.46e-16 -3.33e-16 -1.11e-15" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -4.31e-44 2.48e-45 0.0" />
      </body>
      <body name="imu_link" pos="0.0 -0.02341 0.04927">
        <inertial pos="-2.02e-17 1.73e-17 -1.39e-17" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 1.84e-44 -7.35e-44 -3.67e-44" />
      </body>
      <body name="head_Link">
        <inertial pos="0.33989 -0.000168 0.12029" mass="3.6885" fullinertia="0.026455 0.029221 0.010918 3.15e-05 0.00166 -3.27e-05" />
        <geom name="head_Link_col_0" type="box" size="0.02 0.06 0.07" pos="0.41 0.0 0.005" group="3" />
      </body>
      <body name="tail_link">
        <inertial pos="-0.37448 0.000488 0.006495" mass="0.795" fullinertia="0.0028118 0.0047506 0.0029154 1.95e-05 -7.87e-06 -1.57e-05" />
        <geom name="tail_link_col_0" type="box" size="0.0125 0.06 0.07" pos="-0.405 0.0 0.005" group="3" />
      </body>
      <body name="FL_hip" pos="0.3285 0.072 0.0">
        <joint name="FL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
        <inertial pos="-0.003841 -0.009068 0.0" mass="2.673" fullinertia="0.0033188 0.0048743 0.0037087 7.16e-05 -3.77e-07 4e-09" />
        <geom name="FL_hip_vis_0" type="mesh" mesh="FL_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
        <geom name="FL_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        <body name="FL_thigh" pos="0.0 0.11973 0.0">
          <joint name="FL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
          <inertial pos="-0.006279 -0.032049 -0.057835" mass="4.536" fullinertia="0.062299 0.061399 0.0081997 0.00087781 -0.0036475 0.0083537" />
          <geom name="FL_thigh_vis_0" type="mesh" mesh="FL_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
          <geom name="FL_thigh_col_0" type="box" size="0.16 0.02225 0.027" pos="-0.025 0.0 -0.16" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
          <body name="FL_calf" pos="0.0 -8.6984e-05 -0.35">
            <joint name="FL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
            <inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
            <geom name="FL_calf_vis_0" type="mesh" mesh="FL_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
            <geom name="FL_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
            <geom name="FL_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
            <geom name="FL_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
            <geom name="FL_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
            <body name="FL_foot" pos="0.0 0.0 -0.35">
              <inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
              <geom name="FL_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
            </body>
          </body>
          <body name="FL_calf_rotor" pos="0.0 -0.05788 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
            <geom name="FL_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
          </body>
        </body>
        <body name="FL_thigh_rotor" pos="0.0 -0.00798 0.0">
          <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
          <geom name="FL_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        </body>
      </body>
      <body name="FL_hip_rotor" pos="0.20205 0.072 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
        <geom name="FL_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      </body>
      <body name="FR_hip" pos="0.3285 -0.072 0.0">
        <joint name="FR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
        <inertial pos="-0.009305 0.010228 0.000264" mass="2.673" fullinertia="0.0026431 0.0046728 0.0034208 -0.00019234 -6.76e-06 7.16e-06" />
        <geom name="FR_hip_vis_0" type="mesh" mesh="FR_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
        <geom name="FR_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 -0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        <body name="FR_thigh" pos="0.0 -0.11973 0.0">
          <joint name="FR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
          <inertial pos="-0.006279 0.032049 -0.057835" mass="4.536" fullinertia="0.06229908 0.06139927 0.008199745 -0.000877808 -0.003647464 -0.008353671" />
          <geom name="FR_thigh_vis_0" type="mesh" mesh="FR_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
          <geom name="FR_thigh_col_0" type="box" size="0.125 0.014 0.02" pos="-0.03 0.0 -0.2" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
          <body name="FR_calf" pos="0.0 8.6986e-05 -0.35">
            <joint name="FR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
            <inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
            <geom name="FR_calf_vis_0" type="mesh" mesh="FR_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
            <geom name="FR_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
            <geom name="FR_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
            <geom name="FR_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
            <geom name="FR_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
            <body name="FR_foot" pos="0.0 0.0 -0.35">
              <inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
              <geom name="FR_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
            </body>
          </body>
          <body name="FR_calf_rotor" pos="0.0 0.05788 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
            <geom name="FR_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
          </body>
        </body>
        <body name="FR_thigh_rotor" pos="0.0 0.00798 0.0">
          <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
          <geom name="FR_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        </body>
      </body>
      <body name="FR_hip_rotor" pos="0.20205 -0.072 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
        <geom name="FR_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      </body>
      <body name="RL_hip" pos="-0.3285 0.072 0.0">
        <joint name="RL_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
        <inertial pos="0.009305 -0.010228 0.000264" mass="2.673" fullinertia="0.0026431 0.0046728 0.0034208 -0.00019234 6.76e-06 -7.16e-06" />
        <geom name="RL_hip_vis_0" type="mesh" mesh="RL_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
        <geom name="RL_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        <body name="RL_thigh" pos="0.0 0.11973 0.0">
          <joint name="RL_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
          <inertial pos="-0.006279 -0.032049 -0.057835" mass="4.536" fullinertia="0.06229908 0.06139927 0.008199745 0.000877808 -0.003647464 0.008353671" />
          <geom name="RL_thigh_vis_0" type="mesh" mesh="RL_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
          <geom name="RL_thigh_col_0" type="box" size="0.125 0.014 0.02" pos="-0.03 0.0 -0.2" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
          <body name="RL_calf" pos="0.0 -8.6984e-05 -0.35">
            <joint name="RL_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
            <inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
            <geom name="RL_calf_vis_0" type="mesh" mesh="RL_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
            <geom name="RL_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
            <geom name="RL_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
            <geom name="RL_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
            <geom name="RL_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
            <body name="RL_foot" pos="0.0 0.0 -0.35">
              <inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
              <geom name="RL_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
            </body>
          </body>
          <body name="RL_calf_rotor" pos="0.0 -0.05788 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
            <geom name="RL_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
          </body>
        </body>
        <body name="RL_thigh_rotor" pos="0.0 -0.00798 0.0">
          <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
          <geom name="RL_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        </body>
      </body>
      <body name="RL_hip_rotor" pos="-0.20205 0.072 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
        <geom name="RL_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      </body>
      <body name="RR_hip" pos="-0.3285 -0.072 0.0">
        <joint name="RR_hip_joint" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" />
        <inertial pos="0.003841 0.009068 0.0" mass="2.673" fullinertia="0.0033188 0.0048743 0.0037087 7.16e-05 3.77e-07 -4e-09" />
        <geom name="RR_hip_vis_0" type="mesh" mesh="RR_hip" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
        <geom name="RR_hip_col_0" type="cylinder" size="0.07 0.025" pos="0.0 -0.12 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        <body name="RR_thigh" pos="0.0 -0.11973 0.0">
          <joint name="RR_thigh_joint" type="hinge" axis="0.0 1.0 0.0" range="-0.94 4.69" />
          <inertial pos="-0.006279 0.032049 -0.057835" mass="4.536" fullinertia="0.062299 0.061399 0.0081997 -0.00087781 -0.0036475 -0.0083537" />
          <geom name="RR_thigh_vis_0" type="mesh" mesh="RR_thigh" contype="0" conaffinity="0" group="2" material="磨砂铝合金_008-effect" />
          <geom name="RR_thigh_col_0" type="box" size="0.125 0.014 0.02" pos="-0.03 0.0 -0.2" quat="0.7073882691671998 0.0 0.706825181105366 0.0" group="3" />
          <body name="RR_calf" pos="0.0 8.6986e-05 -0.35">
            <joint name="RR_calf_joint" type="hinge" axis="0.0 1.0 0.0" range="-2.82 -0.43" />
            <inertial pos="0.012422 0.0 -0.12499" mass="0.404" fullinertia="0.01143 0.011534 0.000331 0.0 0.000643 0.0" />
            <geom name="RR_calf_vis_0" type="mesh" mesh="RR_calf" contype="0" conaffinity="0" group="2" material="磨砂铝合金_018-effect" />
            <geom name="RR_calf_col_0" type="box" size="0.05 0.01225 0.009" pos="-0.002 0.0 -0.03" quat="0.8253356149096783 0.0 0.5646424733950354 0.0" group="3" />
            <geom name="RR_calf_col_1" type="box" size="0.05 0.01225 0.009" pos="0.022 0.0 -0.1" quat="0.7807069511324468 0.0 0.6248973167276999 0.0" group="3" />
            <geom name="RR_calf_col_2" type="box" size="0.075 0.01225 0.0075" pos="0.036 0.0 -0.225" quat="0.7213823574366063 0.0 0.6925369985634013 0.0" group="3" />
            <geom name="RR_calf_col_3" type="box" size="0.025 0.014 0.0175" pos="0.023 0.0 -0.31" quat="0.5403023058681398 0.0 0.8414709848078965 0.0" group="3" />
            <body name="RR_foot" pos="0.0 -8.6984e-05 -0.35">
              <inertial pos="-0.006511 0.0 -0.010144" mass="0.126" fullinertia="3.8e-05 4.1e-05 4.2e-05 0.0 1.1e-05 0.0" />
              <geom name="RR_foot_col_0" type="sphere" size="0.032" quat="0.7073882691671998 0.706825181105366 0.0 0.0" group="3" />
            </body>
          </body>
          <body name="RR_calf_rotor" pos="0.0 0.05788 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
            <geom name="RR_calf_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
          </body>
        </body>
        <body name="RR_thigh_rotor" pos="0.0 0.00798 0.0">
          <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
          <geom name="RR_thigh_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
        </body>
      </body>
      <body name="RR_hip_rotor" pos="-0.20205 -0.072 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.2734" fullinertia="0.000144463 0.000144463 0.000263053 0.0 0.0 0.0" />
        <geom name="RR_hip_rotor_col_0" type="cylinder" size="0.05 0.01" quat="0.7071067811865476 0.0 0.7071067811865475 0.0" group="3" />
      </body>
      <body name="f_oc_link" pos="0.39079 0.0 -0.013433" quat="0.4999981633974483 -0.49999999999662686 0.5000018366025516 -0.49999999999662686">
        <inertial pos="-3.39e-15 1.46e-16 -6.11e-16" mass="4.19e-15" fullinertia="1.68e-27 1.68e-27 1.68e-27 -3.89e-44 5.04e-44 2.81e-45" />
      </body>
      <body name="r_oc_link" pos="-0.38451 0.0 -0.023249" quat="0.4999981633974483 -0.49999999999662686 -0.5000018366025516 0.49999999999662686">
        <inertial pos="-0.39143 1.52e-07 -0.011961" mass="4.19e-12" fullinertia="1.68e-22 1.68e-22 1.68e-22 9.03e-39 0.0 -1.2e-38" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="lidar_link" />
    <exclude body1="base_link" body2="f_dc_link" />
    <exclude body1="base_link" body2="r_dc_link" />
    <exclude body1="base_link" body2="imu_link" />
    <exclude body1="base_link" body2="head_Link" />
    <exclude body1="base_link" body2="tail_link" />
    <exclude body1="base_link" body2="FL_hip" />
    <exclude body1="base_link" body2="FL_hip_rotor" />
    <exclude body1="FL_hip" body2="FL_thigh" />
    <exclude body1="FL_hip" body2="FL_thigh_rotor" />
    <exclude body1="FL_thigh" body2="FL_calf" />
    <exclude body1="FL_thigh" body2="FL_calf_rotor" />
    <exclude body1="FL_calf" body2="FL_foot" />
    <exclude body1="base_link" body2="FR_hip" />
    <exclude body1="base_link" body2="FR_hip_rotor" />
    <exclude body1="FR_hip" body2="FR_thigh" />
    <exclude body1="FR_hip" body2="FR_thigh_rotor" />
    <exclude body1="FR_thigh" body2="FR_calf" />
    <exclude body1="FR_thigh" body2="FR_calf_rotor" />
    <exclude body1="FR_calf" body2="FR_foot" />
    <exclude body1="base_link" body2="RL_hip" />
    <exclude body1="base_link" 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" />
    <exclude body1="base_link" body2="RR_hip" />
    <exclude body1="base_link" 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="base_link" body2="f_oc_link" />
    <exclude body1="base_link" body2="r_oc_link" />
  </contact>
</mujoco>
