<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 44c6c729366f8e3a -->
<mujoco model="mini_cheetah">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="mini_body" file="meshes/mini_body.obj" />
    <mesh name="mini_abad" file="meshes/mini_abad.obj" />
    <mesh name="mini_upper_link" file="meshes/mini_upper_link.obj" />
    <mesh name="mini_lower_link" file="meshes/mini_lower_link.obj" />
  </asset>
  <worldbody>
    <body name="body">
      <inertial pos="0.0 0.0 0.0" mass="3.3" fullinertia="0.011253 0.036203 0.042673 0.0 0.0 0.0" />
      <geom name="body_vis_0" type="mesh" mesh="mini_body" contype="0" conaffinity="0" group="2" />
      <geom name="body_col_0" type="mesh" mesh="mini_body" group="3" />
      <body name="abduct_fr" pos="0.19 -0.049 0.0">
        <joint name="torso_to_abduct_fr_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
        <inertial pos="0.0 -0.036 0.0" mass="0.54" fullinertia="0.000312 0.000832 0.000249 5.8e-05 -4.5e-07 9.5e-07" />
        <geom name="abduct_fr_vis_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 0.7071080798594358 2.3107931179895834e-07" contype="0" conaffinity="0" group="2" />
        <geom name="abduct_fr_col_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 0.7071080798594358 2.3107931179895834e-07" group="3" />
        <body name="thigh_fr" pos="0.0 -0.062 0.0">
          <joint name="abduct_fr_to_thigh_fr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
          <inertial pos="0.0 -0.016 -0.02" mass="0.634" fullinertia="0.000264 0.000306 0.002093 0.000245 -1.3e-05 0.000204" />
          <geom name="thigh_fr_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="thigh_fr_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
          <body name="shank_fr" pos="0.0 0.0 -0.209">
            <joint name="thigh_fr_to_knee_fr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
            <inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
            <geom name="shank_fr_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
            <geom name="shank_fr_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
          </body>
        </body>
      </body>
      <body name="abduct_fl" pos="0.19 0.049 0.0">
        <joint name="torso_to_abduct_fl_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
        <inertial pos="0.0 0.036 0.0" mass="0.54" fullinertia="0.000381 0.00056 0.000444 5.8e-05 4.5e-07 9.5e-07" />
        <geom name="abduct_fl_vis_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735" contype="0" conaffinity="0" group="2" />
        <geom name="abduct_fl_col_0" type="mesh" mesh="mini_abad" pos="-0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735" group="3" />
        <body name="thigh_fl" pos="0.0 0.062 0.0">
          <joint name="abduct_fl_to_thigh_fl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
          <inertial pos="0.0 0.016 -0.02" mass="0.634" fullinertia="0.001983 0.002103 0.000408 0.000245 1.3e-05 1.5e-06" />
          <geom name="thigh_fl_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="thigh_fl_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
          <body name="shank_fl" pos="0.0 0.0 -0.209">
            <joint name="thigh_fl_to_knee_fl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
            <inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
            <geom name="shank_fl_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
            <geom name="shank_fl_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
          </body>
        </body>
      </body>
      <body name="abduct_hr" pos="-0.19 -0.049 0.0">
        <joint name="torso_to_abduct_hr_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
        <inertial pos="0.0 -0.036 0.0" mass="0.54" fullinertia="0.000312 0.000832 0.000249 5.8e-05 -4.5e-07 9.5e-07" />
        <geom name="abduct_hr_vis_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
        <geom name="abduct_hr_col_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" group="3" />
        <body name="thigh_hr" pos="0.0 -0.062 0.0">
          <joint name="abduct_hr_to_thigh_hr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
          <inertial pos="0.0 -0.016 -0.02" mass="0.634" fullinertia="0.000264 0.000306 0.002093 0.000245 -1.3e-05 0.000204" />
          <geom name="thigh_hr_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="thigh_hr_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
          <body name="shank_hr" pos="0.0 0.0 -0.209">
            <joint name="thigh_hr_to_knee_hr_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
            <inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
            <geom name="shank_hr_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
            <geom name="shank_hr_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
          </body>
        </body>
      </body>
      <body name="abduct_hl" pos="-0.19 0.049 0.0">
        <joint name="torso_to_abduct_hl_j" type="hinge" axis="1.0 0.0 0.0" limited="false" />
        <inertial pos="0.0 0.036 0.0" mass="0.54" fullinertia="0.000381 0.00056 0.000444 5.8e-05 4.5e-07 9.5e-07" />
        <geom name="abduct_hl_vis_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 -0.7071080798594358 -2.3107931179895834e-07" contype="0" conaffinity="0" group="2" />
        <geom name="abduct_hl_col_0" type="mesh" mesh="mini_abad" pos="0.055 0.0 0.0" quat="2.3107846299880985e-07 0.7071054825111985 -0.7071080798594358 -2.3107931179895834e-07" group="3" />
        <body name="thigh_hl" pos="0.0 0.062 0.0">
          <joint name="abduct_hl_to_thigh_hl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
          <inertial pos="0.0 0.016 -0.02" mass="0.634" fullinertia="0.001983 0.002103 0.000408 0.000245 1.3e-05 1.5e-06" />
          <geom name="thigh_hl_vis_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" contype="0" conaffinity="0" group="2" />
          <geom name="thigh_hl_col_0" type="mesh" mesh="mini_upper_link" quat="0.7071054825112363 0.0 -0.7071080798594735 0.0" group="3" />
          <body name="shank_hl" pos="0.0 0.0 -0.209">
            <joint name="thigh_hl_to_knee_hl_j" type="hinge" axis="0.0 -1.0 0.0" limited="false" />
            <inertial pos="0.0 0.0 -0.209" mass="0.064" fullinertia="0.000245 0.000248 6e-06 0.0 0.0 0.0" />
            <geom name="shank_hl_vis_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" contype="0" conaffinity="0" group="2" />
            <geom name="shank_hl_col_0" type="mesh" mesh="mini_lower_link" quat="3.2679489653813835e-07 0.0 0.9999999999999466 0.0" group="3" />
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="body" body2="abduct_fr" />
    <exclude body1="abduct_fr" body2="thigh_fr" />
    <exclude body1="thigh_fr" body2="shank_fr" />
    <exclude body1="body" body2="abduct_fl" />
    <exclude body1="abduct_fl" body2="thigh_fl" />
    <exclude body1="thigh_fl" body2="shank_fl" />
    <exclude body1="body" body2="abduct_hr" />
    <exclude body1="abduct_hr" body2="thigh_hr" />
    <exclude body1="thigh_hr" body2="shank_hr" />
    <exclude body1="body" body2="abduct_hl" />
    <exclude body1="abduct_hl" body2="thigh_hl" />
    <exclude body1="thigh_hl" body2="shank_hl" />
  </contact>
</mujoco>
