<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1637260d64a2a400 -->
<mujoco model="quadruped">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="black" rgba="0.3 0.3 0.3 1.0" />
    <material name="grey" rgba="0.65 0.65 0.75 1.0" />
    <material name="white" rgba="1.0 1.0 1.0 1.0" />
    <mesh name="tmotor3" file="tmotor3.obj" />
  </asset>
  <worldbody>
    <body name="base_chassis_link">
      <inertial pos="0.0 0.0 0.0" mass="3.0" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
      <geom name="base_chassis_link_vis_0" type="box" size="0.165 0.05 0.035" contype="0" conaffinity="0" group="2" material="black" />
      <geom name="base_chassis_link_vis_1" type="box" size="0.085 0.05 0.025" pos="0.0 0.1 0.0" contype="0" conaffinity="0" group="2" material="black" />
      <geom name="base_chassis_link_vis_2" type="box" size="0.085 0.05 0.025" pos="0.0 -0.1 0.0" contype="0" conaffinity="0" group="2" material="black" />
      <geom name="base_chassis_link_col_0" type="box" size="0.165 0.05 0.035" group="3" />
      <geom name="base_chassis_link_col_1" type="box" size="0.085 0.05 0.025" pos="0.0 0.1 0.0" group="3" />
      <geom name="base_chassis_link_col_2" type="box" size="0.085 0.05 0.025" pos="0.0 -0.1 0.0" group="3" />
      <body name="chassis_right" pos="0.0 -0.1 0.0" quat="0.9990482207661688 -0.04361940604767936 0.0 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
        <geom name="chassis_right_vis_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="chassis_right_vis_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="chassis_right_col_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" group="3" />
        <geom name="chassis_right_col_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" group="3" />
        <body name="motor_front_rightR_link" pos="0.21 -0.025 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
          <joint name="motor_front_rightR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_front_rightR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_front_rightR_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_front_rightR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_front_rightR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_front_rightR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_front_rightR_link" pos="0.0 0.01 0.055">
              <joint name="knee_front_rightR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_front_rightR_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_front_rightR_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
        <body name="motor_front_rightL_link" pos="0.21 0.04 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
          <joint name="motor_front_rightL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_front_rightL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_front_rightL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_front_rightL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_front_rightL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_front_rightL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_front_rightL_link" pos="0.0 0.01 0.055">
              <joint name="knee_front_rightL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_front_rightL_link_vis_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_front_rightL_link_col_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
        <body name="motor_back_rightR_link" pos="-0.21 -0.025 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
          <joint name="motor_back_rightR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_back_rightR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_back_rightR_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_back_rightR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_back_rightR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_back_rightR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_back_rightR_link" pos="0.0 0.01 0.055">
              <joint name="knee_back_rightR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_back_rightR_link_vis_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_back_rightR_link_col_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
        <body name="motor_back_rightL_link" pos="-0.21 0.04 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
          <joint name="motor_back_rightL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_back_rightL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_back_rightL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_back_rightL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_back_rightL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_back_rightL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_back_rightL_link" pos="0.0 0.01 0.055">
              <joint name="knee_back_rightL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_back_rightL_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_back_rightL_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="chassis_left" pos="0.0 0.1 0.0" quat="0.9990482207661688 0.04361940604767936 0.0 0.0">
        <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
        <geom name="chassis_left_vis_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="chassis_left_vis_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="chassis_left_col_0" type="box" size="0.17 0.005 0.02" pos="0.0 0.035 0.0" group="3" />
        <geom name="chassis_left_col_1" type="box" size="0.17 0.005 0.02" pos="0.0 -0.035 0.0" group="3" />
        <body name="motor_front_leftL_link" pos="0.21 0.025 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
          <joint name="motor_front_leftL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_front_leftL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_front_leftL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_front_leftL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_front_leftL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_front_leftL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_front_leftL_link" pos="0.0 0.01 0.055">
              <joint name="knee_front_leftL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_front_leftL_link_vis_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_front_leftL_link_col_0" type="box" size="0.005 0.005 0.099" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
        <body name="motor_front_leftR_link" pos="0.21 -0.04 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
          <joint name="motor_front_leftR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_front_leftR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <body name="upper_leg_front_leftR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_front_leftR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_front_leftR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_front_leftR_link" pos="0.0 0.01 0.055">
              <joint name="knee_front_leftR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_front_leftR_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_front_leftR_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
        <body name="motor_back_leftL_link" pos="-0.21 0.025 0.0" quat="2.3108423990939223e-07 2.310735347651717e-07 0.7070904020014037 0.7071231599922227">
          <joint name="motor_back_leftL_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_back_leftL_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_back_leftL_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_back_leftL_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_back_leftL_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_back_leftL_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_back_leftL_link" pos="0.0 0.01 0.055">
              <joint name="knee_back_leftL_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_back_leftL_link_vis_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_back_leftL_link_col_0" type="box" size="0.005 0.005 0.1" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
        <body name="motor_back_leftR_link" pos="-0.21 -0.04 0.0" quat="0.7071231599922605 0.7070904020014415 0.0 0.0">
          <joint name="motor_back_leftR_joint" type="hinge" axis="0.0 0.0 1.0" limited="false" />
          <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
          <geom name="motor_back_leftR_link_vis_0" type="mesh" mesh="tmotor3" contype="0" conaffinity="0" group="2" material="white" />
          <geom name="motor_back_leftR_link_col_0" type="cylinder" size="0.0434 0.013" group="3" />
          <body name="upper_leg_back_leftR_link" pos="0.0 0.06 -0.015" quat="0.7071231599922605 -0.7070904020014415 0.0 0.0">
            <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
            <geom name="upper_leg_back_leftR_link_vis_0" type="box" size="0.005 0.005 0.055" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="upper_leg_back_leftR_link_col_0" type="box" size="0.005 0.005 0.055" group="3" />
            <body name="lower_leg_back_leftR_link" pos="0.0 0.01 0.055">
              <joint name="knee_back_leftR_link" type="hinge" axis="0.0 1.0 0.0" range="0.0 0.0" />
              <inertial pos="0.0 0.0 0.0" mass="0.05" fullinertia="1.0 1.0 1.0 0.0 0.0 0.0" />
              <geom name="lower_leg_back_leftR_link_vis_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="lower_leg_back_leftR_link_col_0" type="box" size="0.005 0.005 0.1016" pos="0.0 0.0 0.1" group="3" />
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_chassis_link" body2="chassis_right" />
    <exclude body1="base_chassis_link" body2="chassis_left" />
    <exclude body1="chassis_right" body2="motor_front_rightR_link" />
    <exclude body1="chassis_right" body2="motor_front_rightL_link" />
    <exclude body1="chassis_left" body2="motor_front_leftL_link" />
    <exclude body1="chassis_left" body2="motor_front_leftR_link" />
    <exclude body1="chassis_right" body2="motor_back_rightR_link" />
    <exclude body1="chassis_right" body2="motor_back_rightL_link" />
    <exclude body1="chassis_left" body2="motor_back_leftL_link" />
    <exclude body1="chassis_left" body2="motor_back_leftR_link" />
    <exclude body1="motor_front_rightR_link" body2="upper_leg_front_rightR_link" />
    <exclude body1="upper_leg_front_rightR_link" body2="lower_leg_front_rightR_link" />
    <exclude body1="motor_front_rightL_link" body2="upper_leg_front_rightL_link" />
    <exclude body1="upper_leg_front_rightL_link" body2="lower_leg_front_rightL_link" />
    <exclude body1="motor_front_leftR_link" body2="upper_leg_front_leftR_link" />
    <exclude body1="upper_leg_front_leftR_link" body2="lower_leg_front_leftR_link" />
    <exclude body1="motor_front_leftL_link" body2="upper_leg_front_leftL_link" />
    <exclude body1="upper_leg_front_leftL_link" body2="lower_leg_front_leftL_link" />
    <exclude body1="motor_back_rightR_link" body2="upper_leg_back_rightR_link" />
    <exclude body1="upper_leg_back_rightR_link" body2="lower_leg_back_rightR_link" />
    <exclude body1="motor_back_rightL_link" body2="upper_leg_back_rightL_link" />
    <exclude body1="upper_leg_back_rightL_link" body2="lower_leg_back_rightL_link" />
    <exclude body1="motor_back_leftR_link" body2="upper_leg_back_leftR_link" />
    <exclude body1="upper_leg_back_leftR_link" body2="lower_leg_back_leftR_link" />
    <exclude body1="motor_back_leftL_link" body2="upper_leg_back_leftL_link" />
    <exclude body1="upper_leg_back_leftL_link" body2="lower_leg_back_leftL_link" />
  </contact>
</mujoco>
