<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 19d79ab5d3598bbd -->
<mujoco model="hyq">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="white" rgba="1.0 1.0 1.0 1.0" />
    <material name="black" rgba="0.0 0.0 0.0 1.0" />
    <mesh name="trunk" file="example-robot-data/robots/hyq_description/meshes/trunk/trunk.dae" />
    <mesh name="hipassembly" file="example-robot-data/robots/hyq_description/meshes/leg/hipassembly.dae" />
    <mesh name="upperleg" file="example-robot-data/robots/hyq_description/meshes/leg/upperleg.dae" />
    <mesh name="lowerleg" file="example-robot-data/robots/hyq_description/meshes/leg/lowerleg.dae" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
      <geom name="base_link_vis_0" type="cylinder" size="0.01 0.005" contype="0" conaffinity="0" group="2" />
      <body name="trunk">
        <inertial pos="0.056 0.0215 0.00358" mass="60.96" fullinertia="1.5725937 8.5015928 9.1954911 0.028375 -0.203139 -0.004462" />
        <geom name="trunk_vis_0" type="mesh" mesh="trunk" contype="0" conaffinity="0" group="2" />
        <geom name="trunk_col_0" type="mesh" mesh="trunk" group="3" />
        <body name="lf_hipassembly" pos="0.3735 0.207 0.0" quat="-7.312301077203117e-14 -0.7071067811848163 -7.312301077167311e-14 0.7071067811882787">
          <joint name="lf_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
          <inertial pos="0.04263 0.0 0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 -4e-05 -0.00159 -5e-05" />
          <geom name="lf_hipassembly_vis_0" type="mesh" mesh="hipassembly" contype="0" conaffinity="0" group="2" />
          <geom name="lf_hipassembly_col_0" type="mesh" mesh="hipassembly" group="3" />
          <body name="lf_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
            <joint name="lf_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.872664625997 1.2217304764" damping="0.1" />
            <inertial pos="0.15074 -0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 -0.00302 0.0001 2e-05" />
            <geom name="lf_upperleg_vis_0" type="mesh" mesh="upperleg" contype="0" conaffinity="0" group="2" />
            <geom name="lf_upperleg_col_0" type="mesh" mesh="upperleg" group="3" />
            <body name="lf_lowerleg" pos="0.35 0.0 0.0">
              <joint name="lf_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.44346095279 -0.349065850399" damping="0.1" />
              <inertial pos="0.1254 4e-05 -0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 6e-05 -1e-05 -0.0" />
              <geom name="lf_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
              <geom name="lf_lowerleg_col_0" type="cylinder" size="0.02 0.173" pos="0.173 0.0 0.0" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" group="3" />
              <body name="lf_foot" pos="0.346 0.0 0.0" quat="0.5000000000024483 0.5 -0.4999999999975517 -0.5">
                <inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
                <geom name="lf_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="lf_foot_col_0" type="sphere" size="0.02175" group="3" />
              </body>
            </body>
          </body>
        </body>
        <body name="rf_hipassembly" pos="0.3735 -0.207 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0">
          <joint name="rf_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
          <inertial pos="0.04263 -0.0 -0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 4e-05 0.00159 -5e-05" />
          <geom name="rf_hipassembly_vis_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
          <geom name="rf_hipassembly_col_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
          <body name="rf_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
            <joint name="rf_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-0.872664625997 1.2217304764" damping="0.1" />
            <inertial pos="0.15074 -0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 -0.00302 0.0001 2e-05" />
            <geom name="rf_upperleg_vis_0" type="mesh" mesh="upperleg" contype="0" conaffinity="0" group="2" />
            <geom name="rf_upperleg_col_0" type="mesh" mesh="upperleg" group="3" />
            <body name="rf_lowerleg" pos="0.35 0.0 0.0">
              <joint name="rf_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-2.44346095279 -0.349065850399" damping="0.1" />
              <inertial pos="0.1254 4e-05 -0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 6e-05 -1e-05 -0.0" />
              <geom name="rf_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
              <geom name="rf_lowerleg_col_0" type="cylinder" size="0.02 0.173" pos="0.173 0.0 0.0" quat="0.7071067811882787 0.0 -0.7071067811848163 0.0" group="3" />
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                <inertial pos="0.0 0.0 0.0" mass="1e-06" fullinertia="1e-06 1e-06 1e-06 1e-06 1e-06 1e-06" />
                <geom name="rf_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="rf_foot_col_0" type="sphere" size="0.02175" group="3" />
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            </body>
          </body>
        </body>
        <body name="lh_hipassembly" pos="-0.3735 0.207 0.0" quat="-7.312301077203117e-14 -0.7071067811848163 -7.312301077167311e-14 0.7071067811882787">
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          <inertial pos="0.04263 -0.0 -0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 4e-05 0.00159 -5e-05" />
          <geom name="lh_hipassembly_vis_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
          <geom name="lh_hipassembly_col_0" type="mesh" mesh="hipassembly" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
          <body name="lh_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
            <joint name="lh_hfe_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.872664625997" damping="0.1" />
            <inertial pos="0.15074 0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 0.00302 -0.0001 2e-05" />
            <geom name="lh_upperleg_vis_0" type="mesh" mesh="upperleg" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" contype="0" conaffinity="0" group="2" />
            <geom name="lh_upperleg_col_0" type="mesh" mesh="upperleg" quat="-1.0341155355510722e-13 1.0 0.0 -0.0" group="3" />
            <body name="lh_lowerleg" pos="0.35 0.0 0.0">
              <joint name="lh_kfe_joint" type="hinge" axis="0.0 0.0 1.0" range="0.349065850399 2.44346095279" damping="0.1" />
              <inertial pos="0.1254 -4e-05 0.0001" mass="0.881" fullinertia="0.00047 0.01256 0.01233 -6e-05 1e-05 -0.0" />
              <geom name="lh_lowerleg_vis_0" type="mesh" mesh="lowerleg" contype="0" conaffinity="0" group="2" material="white" />
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                <geom name="lh_foot_vis_0" type="sphere" size="0.02175" contype="0" conaffinity="0" group="2" material="black" />
                <geom name="lh_foot_col_0" type="sphere" size="0.02175" group="3" />
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            </body>
          </body>
        </body>
        <body name="rh_hipassembly" pos="-0.3735 -0.207 0.0" quat="0.7071067811882787 0.0 0.7071067811848163 0.0">
          <joint name="rh_haa_joint" type="hinge" axis="0.0 0.0 1.0" range="-1.2217304764 0.436332312999" damping="0.1" />
          <inertial pos="0.04263 0.0 0.16931" mass="2.93" fullinertia="0.05071 0.05486 0.00571 -4e-05 -0.00159 -5e-05" />
          <geom name="rh_hipassembly_vis_0" type="mesh" mesh="hipassembly" contype="0" conaffinity="0" group="2" />
          <geom name="rh_hipassembly_col_0" type="mesh" mesh="hipassembly" group="3" />
          <body name="rh_upperleg" pos="0.08 0.0 0.0" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
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            <inertial pos="0.15074 0.02625 0.0" mass="2.638" fullinertia="0.00368 0.02719 0.02811 0.00302 -0.0001 2e-05" />
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            <body name="rh_lowerleg" pos="0.35 0.0 0.0">
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        </body>
        <body name="trunk_imu" pos="0.29 0.0 0.0999214" quat="-1.0341155355510722e-13 0.0 -1.0 0.0">
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          <geom name="trunk_imu_vis_0" type="box" size="0.01645 0.0122 0.00555" pos="0.00485 0.0 -0.00105" contype="0" conaffinity="0" group="2" material="black" />
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="trunk" />
    <exclude body1="trunk" body2="lf_hipassembly" />
    <exclude body1="lf_hipassembly" body2="lf_upperleg" />
    <exclude body1="lf_upperleg" body2="lf_lowerleg" />
    <exclude body1="lf_lowerleg" body2="lf_foot" />
    <exclude body1="trunk" body2="rf_hipassembly" />
    <exclude body1="rf_hipassembly" body2="rf_upperleg" />
    <exclude body1="rf_upperleg" body2="rf_lowerleg" />
    <exclude body1="rf_lowerleg" body2="rf_foot" />
    <exclude body1="trunk" body2="lh_hipassembly" />
    <exclude body1="lh_hipassembly" body2="lh_upperleg" />
    <exclude body1="lh_upperleg" body2="lh_lowerleg" />
    <exclude body1="lh_lowerleg" body2="lh_foot" />
    <exclude body1="trunk" body2="rh_hipassembly" />
    <exclude body1="rh_hipassembly" body2="rh_upperleg" />
    <exclude body1="rh_upperleg" body2="rh_lowerleg" />
    <exclude body1="rh_lowerleg" body2="rh_foot" />
    <exclude body1="trunk" body2="trunk_imu" />
  </contact>
</mujoco>
