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                <geom name="left_knee_stator_vis_0" type="mesh" mesh="knee_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                <geom name="left_knee_stator_col_0" type="box" size="0.045 0.0235 0.0525" pos="-0.015 0.0 -0.008" group="3" />
                <body name="left_knee_bumper" pos="-0.0305 0.0 -0.01" quat="0.5000000000000001 -0.5 -0.4999999999999999 0.5">
                  <inertial pos="0.0 0.03 0.0" mass="0.109" fullinertia="0.00020573750000000003 0.00020573750000000003 0.000395125 0.0 0.0 0.0" />
                  <geom name="left_knee_bumper_vis_0" type="mesh" mesh="knee_bumper" contype="0" conaffinity="0" group="2" material="lipstick_red" />
                  <geom name="left_knee_bumper_col_0" type="cylinder" size="0.065 0.015" pos="0.0 0.03 0.0" group="3" />
                </body>
                <body name="left_knee_qdd100_stator" pos="-0.0453 0.0 -0.04" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
                  <inertial pos="0.0 0.0 0.0145" mass="0.47" fullinertia="0.0003278347916666667 0.0003278347916666667 0.0005875000000000001 0.0 0.0 0.0" />
                  <geom name="left_knee_qdd100_stator_vis_0" type="mesh" mesh="qdd100_stator" contype="0" conaffinity="0" group="2" material="black" />
                  <geom name="left_knee_qdd100_stator_col_0" type="cylinder" size="0.05 0.01475" pos="0.0 0.0 0.0145" group="3" />
                  <body name="left_knee_qdd100_rotor" pos="0.0 0.0 0.0292">
                    <joint name="left_knee" type="hinge" axis="0.0 0.0 -1.0" range="-1.8 1.8" />
                    <inertial pos="0.0 0.0 -0.003" mass="0.015" fullinertia="1.9434375e-06 1.9434375e-06 3.7968749999999995e-06 0.0 0.0 0.0" />
                    <geom name="left_knee_qdd100_rotor_vis_0" type="mesh" mesh="qdd100_rotor" contype="0" conaffinity="0" group="2" material="black" />
                    <geom name="left_knee_qdd100_rotor_col_0" type="cylinder" size="0.0225 0.003" pos="0.0 0.0 -0.003" group="3" />
                    <body name="left_knee_rotor_connector" pos="0.0 0.0 0.0157" quat="6.123233995736766e-17 0.0 0.0 1.0">
                      <inertial pos="0.0 -0.005 0.0005" mass="0.047" fullinertia="1.6939583333333333e-05 1.3555583333333334e-05 2.2967333333333336e-05 0.0 0.0 0.0" />
                      <geom name="left_knee_rotor_connector_vis_0" type="mesh" mesh="rotor_connector" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                      <geom name="left_knee_rotor_connector_col_0" type="box" size="0.025 0.029 0.0155" pos="0.0 -0.005 0.0005" group="3" />
                      <body name="left_tibia_extrusion">
                        <inertial pos="0.0 -0.079 0.0" mass="0.0675" fullinertia="0.0001288125 4.5e-06 0.0001288125 0.0 0.0 0.0" />
                        <geom name="left_tibia_extrusion_vis_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" contype="0" conaffinity="0" group="2" material="black" />
                        <geom name="left_tibia_extrusion_col_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" group="3" />
                        <body name="left_ankle_stator" pos="0.0 -0.177 -0.01" quat="0.7071067811865476 0.0 -0.7071067811865475 0.0">
                          <inertial pos="-0.001 -0.022 0.0" mass="0.16" fullinertia="0.000291 0.00013333333333333334 0.0003283333333333333 0.0 0.0 0.0" />
                          <geom name="left_ankle_stator_vis_0" type="mesh" mesh="ankle_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                          <geom name="left_ankle_stator_col_0" type="box" size="0.04 0.0675 0.03" pos="-0.001 -0.022 0.0" group="3" />
                          <body name="left_ankle_heat_spreader" pos="-0.0365 -0.058 0.0">
                            <inertial pos="0.0 0.0 0.0" mass="0.0067" fullinertia="2.7916666666666673e-06 1.398066666666667e-06 1.398066666666667e-06 0.0 0.0 0.0" />
                            <geom name="left_ankle_heat_spreader_vis_0" type="box" size="0.001 0.025 0.025" contype="0" conaffinity="0" group="2" material="black" />
                            <geom name="left_ankle_heat_spreader_col_0" type="box" size="0.001 0.025 0.025" group="3" />
                          </body>
                          <body name="left_wheel_mj5208_stator" pos="-0.025 -0.064 -0.001" quat="0.7071067811865476 0.0 0.7071067811865475 0.0">
                            <inertial pos="0.0 0.0 0.008" mass="0.1721" fullinertia="3.531879225000001e-05 3.531879225000001e-05 6.134418450000001e-05 0.0 0.0 0.0" />
                            <geom name="left_wheel_mj5208_stator_vis_0" type="mesh" mesh="mj5208_stator" contype="0" conaffinity="0" group="2" material="mj5208_stator" />
                            <geom name="left_wheel_mj5208_stator_col_0" type="cylinder" size="0.0267 0.009" pos="0.0 0.0 0.008" group="3" />
                            <body name="left_wheel_mj5208_rotor">
                              <joint name="left_wheel" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.0" />
                              <inertial pos="0.0 0.0 0.015" mass="0.05" fullinertia="1.551666666666667e-05 1.551666666666667e-05 2.8900000000000005e-05 0.0 0.0 0.0" />
                              <geom name="left_wheel_mj5208_rotor_vis_0" type="mesh" mesh="mj5208_rotor" contype="0" conaffinity="0" group="2" material="mj5208_rotor" />
                              <geom name="left_wheel_mj5208_rotor_col_0" type="cylinder" size="0.034 0.008" pos="0.0 0.0 0.015" group="3" />
                              <body name="left_wheel_hub" pos="0.0 0.0 0.035">
                                <inertial pos="0.0 0.0 0.0" mass="0.063" fullinertia="3.399375e-05 3.399375e-05 6.37875e-05 0.0 0.0 0.0" />
                                <geom name="left_wheel_hub_vis_0" type="mesh" mesh="wheel_hub" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                                <geom name="left_wheel_hub_col_0" type="cylinder" size="0.045 0.01" group="3" />
                                <body name="left_wheel_tire">
                                  <inertial pos="0.0 0.0 0.0" mass="0.095" fullinertia="0.00017571041666666662 0.00017571041666666662 0.00034508749999999995 0.0 0.0 0.0" />
                                  <geom name="left_wheel_tire_vis_0" type="mesh" mesh="wheel_tire" contype="0" conaffinity="0" group="2" material="lipstick_red" />
                                  <geom name="left_wheel_tire_col_0" type="cylinder" size="0.073 0.01" group="3" />
                                  <body name="left_contact" pos="0.0 -0.073 0.0" quat="4.329780281177467e-17 -4.329780281177466e-17 0.7071067811865476 0.7071067811865475">
                                    <inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
                                    <geom name="left_contact_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="right_hip_qdd100_stator" pos="0.001 -0.051 -0.045" quat="-0.2705980500730985 -0.27059805007309845 -0.6532814824381883 0.6532814824381882">
        <inertial pos="0.0 0.0 0.0145" mass="0.47" fullinertia="0.0003278347916666667 0.0003278347916666667 0.0005875000000000001 0.0 0.0 0.0" />
        <geom name="right_hip_qdd100_stator_vis_0" type="mesh" mesh="qdd100_stator" contype="0" conaffinity="0" group="2" material="black" />
        <geom name="right_hip_qdd100_stator_col_0" type="cylinder" size="0.05 0.01475" pos="0.0 0.0 0.0145" group="3" />
        <body name="right_hip_qdd100_rotor" pos="0.0 0.0 0.0292">
          <joint name="right_hip" type="hinge" axis="0.0 0.0 -1.0" range="-1.8 1.8" />
          <inertial pos="0.0 0.0 -0.003" mass="0.015" fullinertia="1.9434375e-06 1.9434375e-06 3.7968749999999995e-06 0.0 0.0 0.0" />
          <geom name="right_hip_qdd100_rotor_vis_0" type="mesh" mesh="qdd100_rotor" contype="0" conaffinity="0" group="2" material="black" />
          <geom name="right_hip_qdd100_rotor_col_0" type="cylinder" size="0.0225 0.003" pos="0.0 0.0 -0.003" group="3" />
          <body name="right_hip_rotor_connector" pos="0.0 0.0 0.0157" quat="0.38268343236508984 0.0 0.0 0.9238795325112867">
            <inertial pos="0.0 -0.005 0.0005" mass="0.047" fullinertia="1.6939583333333333e-05 1.3555583333333334e-05 2.2967333333333336e-05 0.0 0.0 0.0" />
            <geom name="right_hip_rotor_connector_vis_0" type="mesh" mesh="rotor_connector" contype="0" conaffinity="0" group="2" material="mango_yellow" />
            <geom name="right_hip_rotor_connector_col_0" type="box" size="0.025 0.029 0.0155" pos="0.0 -0.005 0.0005" group="3" />
            <body name="right_femur_extrusion">
              <inertial pos="0.0 -0.079 0.0" mass="0.09" fullinertia="0.00030300000000000005 6e-06 0.00030300000000000005 0.0 0.0 0.0" />
              <geom name="right_femur_extrusion_vis_0" type="box" size="0.01 0.1 0.01" pos="0.0 -0.079 0.0" contype="0" conaffinity="0" group="2" material="black" />
              <geom name="right_femur_extrusion_col_0" type="box" size="0.01 0.1 0.01" pos="0.0 -0.079 0.0" group="3" />
              <body name="right_knee_stator" pos="0.0 -0.173 0.0" quat="0.5000000000000001 -0.5 -0.5 -0.4999999999999999">
                <inertial pos="-0.015 0.0 -0.008" mass="0.145" fullinertia="0.0001599108333333333 0.00023109374999999994 0.0001245670833333333 0.0 0.0 0.0" />
                <geom name="right_knee_stator_vis_0" type="mesh" mesh="knee_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                <geom name="right_knee_stator_col_0" type="box" size="0.045 0.0235 0.0525" pos="-0.015 0.0 -0.008" group="3" />
                <body name="right_knee_bumper" pos="-0.0305 0.0 -0.01" quat="0.5000000000000001 -0.5 -0.4999999999999999 0.5">
                  <inertial pos="0.0 0.03 0.0" mass="0.109" fullinertia="0.00020573750000000003 0.00020573750000000003 0.000395125 0.0 0.0 0.0" />
                  <geom name="right_knee_bumper_vis_0" type="mesh" mesh="knee_bumper" contype="0" conaffinity="0" group="2" material="lipstick_red" />
                  <geom name="right_knee_bumper_col_0" type="cylinder" size="0.065 0.015" pos="0.0 0.03 0.0" group="3" />
                </body>
                <body name="right_knee_qdd100_stator" pos="-0.0453 0.0 -0.04" quat="0.5000000000000001 -0.5 0.4999999999999999 -0.5">
                  <inertial pos="0.0 0.0 0.0145" mass="0.47" fullinertia="0.0003278347916666667 0.0003278347916666667 0.0005875000000000001 0.0 0.0 0.0" />
                  <geom name="right_knee_qdd100_stator_vis_0" type="mesh" mesh="qdd100_stator" contype="0" conaffinity="0" group="2" material="black" />
                  <geom name="right_knee_qdd100_stator_col_0" type="cylinder" size="0.05 0.01475" pos="0.0 0.0 0.0145" group="3" />
                  <body name="right_knee_qdd100_rotor" pos="0.0 0.0 0.0292">
                    <joint name="right_knee" type="hinge" axis="0.0 0.0 -1.0" range="-1.8 1.8" />
                    <inertial pos="0.0 0.0 -0.003" mass="0.015" fullinertia="1.9434375e-06 1.9434375e-06 3.7968749999999995e-06 0.0 0.0 0.0" />
                    <geom name="right_knee_qdd100_rotor_vis_0" type="mesh" mesh="qdd100_rotor" contype="0" conaffinity="0" group="2" material="black" />
                    <geom name="right_knee_qdd100_rotor_col_0" type="cylinder" size="0.0225 0.003" pos="0.0 0.0 -0.003" group="3" />
                    <body name="right_knee_rotor_connector" pos="0.0 0.0 0.0157" quat="6.123233995736766e-17 0.0 0.0 1.0">
                      <inertial pos="0.0 -0.005 0.0005" mass="0.047" fullinertia="1.6939583333333333e-05 1.3555583333333334e-05 2.2967333333333336e-05 0.0 0.0 0.0" />
                      <geom name="right_knee_rotor_connector_vis_0" type="mesh" mesh="rotor_connector" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                      <geom name="right_knee_rotor_connector_col_0" type="box" size="0.025 0.029 0.0155" pos="0.0 -0.005 0.0005" group="3" />
                      <body name="right_tibia_extrusion">
                        <inertial pos="0.0 -0.079 0.0" mass="0.0675" fullinertia="0.0001288125 4.5e-06 0.0001288125 0.0 0.0 0.0" />
                        <geom name="right_tibia_extrusion_vis_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" contype="0" conaffinity="0" group="2" material="black" />
                        <geom name="right_tibia_extrusion_col_0" type="box" size="0.01 0.075 0.01" pos="0.0 -0.079 0.0" group="3" />
                        <body name="right_ankle_stator" pos="0.0 -0.177 -0.01" quat="0.7071067811865476 0.0 -0.7071067811865475 0.0">
                          <inertial pos="-0.001 -0.022 0.0" mass="0.16" fullinertia="0.000291 0.00013333333333333334 0.0003283333333333333 0.0 0.0 0.0" />
                          <geom name="right_ankle_stator_vis_0" type="mesh" mesh="ankle_stator" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                          <geom name="right_ankle_stator_col_0" type="box" size="0.04 0.0675 0.03" pos="-0.001 -0.022 0.0" group="3" />
                          <body name="right_ankle_heat_spreader" pos="-0.0365 -0.058 0.0">
                            <inertial pos="0.0 0.0 0.0" mass="0.0067" fullinertia="2.7916666666666673e-06 1.398066666666667e-06 1.398066666666667e-06 0.0 0.0 0.0" />
                            <geom name="right_ankle_heat_spreader_vis_0" type="box" size="0.001 0.025 0.025" contype="0" conaffinity="0" group="2" material="black" />
                            <geom name="right_ankle_heat_spreader_col_0" type="box" size="0.001 0.025 0.025" group="3" />
                          </body>
                          <body name="right_wheel_mj5208_stator" pos="-0.025 -0.064 -0.001" quat="0.7071067811865476 0.0 0.7071067811865475 0.0">
                            <inertial pos="0.0 0.0 0.008" mass="0.1721" fullinertia="3.531879225000001e-05 3.531879225000001e-05 6.134418450000001e-05 0.0 0.0 0.0" />
                            <geom name="right_wheel_mj5208_stator_vis_0" type="mesh" mesh="mj5208_stator" contype="0" conaffinity="0" group="2" material="mj5208_stator" />
                            <geom name="right_wheel_mj5208_stator_col_0" type="cylinder" size="0.0267 0.009" pos="0.0 0.0 0.008" group="3" />
                            <body name="right_wheel_mj5208_rotor">
                              <joint name="right_wheel" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.0" />
                              <inertial pos="0.0 0.0 0.015" mass="0.05" fullinertia="1.551666666666667e-05 1.551666666666667e-05 2.8900000000000005e-05 0.0 0.0 0.0" />
                              <geom name="right_wheel_mj5208_rotor_vis_0" type="mesh" mesh="mj5208_rotor" contype="0" conaffinity="0" group="2" material="mj5208_rotor" />
                              <geom name="right_wheel_mj5208_rotor_col_0" type="cylinder" size="0.034 0.008" pos="0.0 0.0 0.015" group="3" />
                              <body name="right_wheel_hub" pos="0.0 0.0 0.035">
                                <inertial pos="0.0 0.0 0.0" mass="0.063" fullinertia="3.399375e-05 3.399375e-05 6.37875e-05 0.0 0.0 0.0" />
                                <geom name="right_wheel_hub_vis_0" type="mesh" mesh="wheel_hub" contype="0" conaffinity="0" group="2" material="mango_yellow" />
                                <geom name="right_wheel_hub_col_0" type="cylinder" size="0.045 0.01" group="3" />
                                <body name="right_wheel_tire">
                                  <inertial pos="0.0 0.0 0.0" mass="0.095" fullinertia="0.00017571041666666662 0.00017571041666666662 0.00034508749999999995 0.0 0.0 0.0" />
                                  <geom name="right_wheel_tire_vis_0" type="mesh" mesh="wheel_tire" contype="0" conaffinity="0" group="2" material="lipstick_red" />
                                  <geom name="right_wheel_tire_col_0" type="cylinder" size="0.073 0.01" group="3" />
                                  <body name="right_contact" pos="0.0 -0.073 0.0" quat="0.7071067811865476 -0.7071067811865475 0.0 0.0">
                                    <inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
                                    <geom name="right_contact_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="torso" />
    <exclude body1="base" body2="battery_indicator" />
    <exclude body1="torso" body2="torso_bumper_01" />
    <exclude body1="torso" body2="torso_bumper_02" />
    <exclude body1="torso" body2="torso_bumper_03" />
    <exclude body1="torso" body2="torso_bumper_04" />
    <exclude body1="torso" body2="torso_bumper_05" />
    <exclude body1="torso" body2="torso_bumper_06" />
    <exclude body1="torso" body2="torso_bumper_07" />
    <exclude body1="torso" body2="torso_bumper_08" />
    <exclude body1="torso" body2="torso_bumper_09" />
    <exclude body1="torso" body2="torso_bumper_10" />
    <exclude body1="torso" body2="torso_bumper_11" />
    <exclude body1="torso" body2="torso_bumper_12" />
    <exclude body1="torso" body2="torso_bumper_13" />
    <exclude body1="torso" body2="torso_bumper_14" />
    <exclude body1="torso" body2="torso_bumper_15" />
    <exclude body1="torso" body2="torso_bumper_16" />
    <exclude body1="torso" body2="torso_bumper_17" />
    <exclude body1="torso" body2="torso_bumper_18" />
    <exclude body1="torso" body2="torso_bumper_19" />
    <exclude body1="torso" body2="imu" />
    <exclude body1="torso" body2="oak_d_lite" />
    <exclude body1="base" body2="power_connector" />
    <exclude body1="base" body2="power_switch" />
    <exclude body1="base" body2="power_switch_light" />
    <exclude body1="base" body2="screen" />
    <exclude body1="base" body2="left_hip_qdd100_stator" />
    <exclude body1="left_hip_qdd100_stator" body2="left_hip_qdd100_rotor" />
    <exclude body1="left_hip_qdd100_rotor" body2="left_hip_rotor_connector" />
    <exclude body1="left_hip_rotor_connector" body2="left_femur_extrusion" />
    <exclude body1="left_femur_extrusion" body2="left_knee_stator" />
    <exclude body1="left_knee_stator" body2="left_knee_bumper" />
    <exclude body1="left_knee_stator" body2="left_knee_qdd100_stator" />
    <exclude body1="left_knee_qdd100_stator" body2="left_knee_qdd100_rotor" />
    <exclude body1="left_knee_qdd100_rotor" body2="left_knee_rotor_connector" />
    <exclude body1="left_knee_rotor_connector" body2="left_tibia_extrusion" />
    <exclude body1="left_tibia_extrusion" body2="left_ankle_stator" />
    <exclude body1="left_ankle_stator" body2="left_ankle_heat_spreader" />
    <exclude body1="left_ankle_stator" body2="left_wheel_mj5208_stator" />
    <exclude body1="left_wheel_mj5208_stator" body2="left_wheel_mj5208_rotor" />
    <exclude body1="left_wheel_mj5208_rotor" body2="left_wheel_hub" />
    <exclude body1="left_wheel_hub" body2="left_wheel_tire" />
    <exclude body1="left_wheel_tire" body2="left_contact" />
    <exclude body1="base" body2="right_hip_qdd100_stator" />
    <exclude body1="right_hip_qdd100_stator" body2="right_hip_qdd100_rotor" />
    <exclude body1="right_hip_qdd100_rotor" body2="right_hip_rotor_connector" />
    <exclude body1="right_hip_rotor_connector" body2="right_femur_extrusion" />
    <exclude body1="right_femur_extrusion" body2="right_knee_stator" />
    <exclude body1="right_knee_stator" body2="right_knee_bumper" />
    <exclude body1="right_knee_stator" body2="right_knee_qdd100_stator" />
    <exclude body1="right_knee_qdd100_stator" body2="right_knee_qdd100_rotor" />
    <exclude body1="right_knee_qdd100_rotor" body2="right_knee_rotor_connector" />
    <exclude body1="right_knee_rotor_connector" body2="right_tibia_extrusion" />
    <exclude body1="right_tibia_extrusion" body2="right_ankle_stator" />
    <exclude body1="right_ankle_stator" body2="right_ankle_heat_spreader" />
    <exclude body1="right_ankle_stator" body2="right_wheel_mj5208_stator" />
    <exclude body1="right_wheel_mj5208_stator" body2="right_wheel_mj5208_rotor" />
    <exclude body1="right_wheel_mj5208_rotor" body2="right_wheel_hub" />
    <exclude body1="right_wheel_hub" body2="right_wheel_tire" />
    <exclude body1="right_wheel_tire" body2="right_contact" />
  </contact>
</mujoco>
