<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 7281be3c3ecb04ce -->
<mujoco model="bolt">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.8 0.8 0.8 1.0" />
    <mesh name="bolt_body" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_body.stl" />
    <mesh name="bolt_hip_fe_left_side" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_left_side.stl" />
    <mesh name="upper_leg_200mm_left_side" file="example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_left_side.stl" />
    <mesh name="lower_leg_200mm_left_side" file="example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_left_side.stl" />
    <mesh name="bolt_foot" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_foot.stl" />
    <mesh name="bolt_hip_fe_right_side" file="example-robot-data/robots/bolt_description/meshes/stl/bolt_hip_fe_right_side.stl" />
    <mesh name="upper_leg_200mm_right_side" file="example-robot-data/robots/bolt_description/meshes/stl/upper_leg_200mm_right_side.stl" />
    <mesh name="lower_leg_200mm_right_side" file="example-robot-data/robots/bolt_description/meshes/stl/lower_leg_200mm_right_side.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="0.61436936" fullinertia="0.00578574 0.01938108 0.02476124 0.0 0.0 0.0" />
      <geom name="base_link_vis_0" type="mesh" mesh="bolt_body" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="base_link_col_0" type="mesh" mesh="bolt_body" group="3" />
      <body name="FL_SHOULDER" pos="0.0 0.0636 0.0">
        <joint name="FL_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="0.01708256 -0.00446892 -0.0109583" mass="0.14004265" fullinertia="7.443e-05 0.00013847 9.002e-05 1.48e-06 2.154e-05 -1.096e-05" />
        <geom name="FL_SHOULDER_vis_0" type="mesh" mesh="bolt_hip_fe_left_side" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="FL_SHOULDER_col_0" type="mesh" mesh="bolt_hip_fe_left_side" group="3" />
        <body name="FL_UPPER_LEG" pos="0.0 0.0145 -0.0386">
          <joint name="FL_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="1.377e-05 0.01935853 -0.118707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 9e-08 -4.671e-05" />
          <geom name="FL_UPPER_LEG_vis_0" type="mesh" mesh="upper_leg_200mm_left_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="FL_UPPER_LEG_col_0" type="mesh" mesh="upper_leg_200mm_left_side" group="3" />
          <body name="FL_LOWER_LEG" pos="0.0 0.0374 -0.2">
            <joint name="FL_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 0.00836718 -0.11591877" mass="0.03117243" fullinertia="0.00011487 0.00011556 2.2e-06 0.0 0.0 -1.9e-06" />
            <geom name="FL_LOWER_LEG_vis_0" type="mesh" mesh="lower_leg_200mm_left_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="FL_LOWER_LEG_col_0" type="mesh" mesh="lower_leg_200mm_left_side" group="3" />
            <body name="FL_FOOT" pos="0.0 0.008 -0.2">
              <inertial pos="0.0 0.0 0.00035767" mass="0.0" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="FL_FOOT_vis_0" type="mesh" mesh="bolt_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="FL_FOOT_col_0" type="mesh" mesh="bolt_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="FR_SHOULDER" pos="0.0 -0.0636 0.0">
        <joint name="FR_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="0.01708233 0.00447099 -0.01095846" mass="0.14004412" fullinertia="7.442e-05 0.00013848 9.001e-05 -1.48e-06 2.154e-05 1.095e-05" />
        <geom name="FR_SHOULDER_vis_0" type="mesh" mesh="bolt_hip_fe_right_side" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="FR_SHOULDER_col_0" type="mesh" mesh="bolt_hip_fe_right_side" group="3" />
        <body name="FR_UPPER_LEG" pos="0.0 -0.0145 -0.0386">
          <joint name="FR_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="-1.377e-05 -0.01935853 -0.118707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 -9e-08 4.671e-05" />
          <geom name="FR_UPPER_LEG_vis_0" type="mesh" mesh="upper_leg_200mm_right_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="FR_UPPER_LEG_col_0" type="mesh" mesh="upper_leg_200mm_right_side" group="3" />
          <body name="FR_LOWER_LEG" pos="0.0 -0.0374 -0.2">
            <joint name="FR_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 -0.00836718 -0.11591877" mass="0.03117243" fullinertia="0.00011487 0.00011556 2.2e-06 0.0 0.0 1.9e-06" />
            <geom name="FR_LOWER_LEG_vis_0" type="mesh" mesh="lower_leg_200mm_right_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="FR_LOWER_LEG_col_0" type="mesh" mesh="lower_leg_200mm_right_side" group="3" />
            <body name="FR_FOOT" pos="0.0 -0.008 -0.2">
              <inertial pos="0.0 0.0 0.00035767" mass="0.0" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="FR_FOOT_vis_0" type="mesh" mesh="bolt_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="FR_FOOT_col_0" type="mesh" mesh="bolt_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="FL_SHOULDER" />
    <exclude body1="FL_SHOULDER" body2="FL_UPPER_LEG" />
    <exclude body1="FL_UPPER_LEG" body2="FL_LOWER_LEG" />
    <exclude body1="FL_LOWER_LEG" body2="FL_FOOT" />
    <exclude body1="base_link" body2="FR_SHOULDER" />
    <exclude body1="FR_SHOULDER" body2="FR_UPPER_LEG" />
    <exclude body1="FR_UPPER_LEG" body2="FR_LOWER_LEG" />
    <exclude body1="FR_LOWER_LEG" body2="FR_FOOT" />
  </contact>
</mujoco>
