<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 485f5acfc1472ff9 -->
<mujoco model="rhea">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="Aluminum_-_Anodized_Rough_(Grey)" rgba="0.28627 0.28627 0.28627 1.0" />
    <material name="Aluminum_-_Anodized_Rough_(Grey)_1" rgba="0.28627 0.28627 0.28627 1.0" />
    <material name="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" rgba="0.24706 0.24706 0.24706 1.0" />
    <mesh name="simple_bot_mesh" file="../meshes/dae/simple_bot_mesh.dae" />
    <mesh name="simple_bot_mesh.006" file="../meshes/dae/simple_bot_mesh.006.dae" />
    <mesh name="simple_bot_mesh.005" file="../meshes/dae/simple_bot_mesh.005.dae" />
    <mesh name="simple_bot_mesh.004" file="../meshes/dae/simple_bot_mesh.004.dae" />
    <mesh name="simple_bot_mesh.003" file="../meshes/dae/simple_bot_mesh.003.dae" />
    <mesh name="simple_bot_mesh.002" file="../meshes/dae/simple_bot_mesh.002.dae" />
    <mesh name="simple_bot_mesh.001" file="../meshes/dae/simple_bot_mesh.001.dae" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="3.0" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
      <geom name="base_link_vis_0" type="mesh" mesh="simple_bot_mesh" contype="0" conaffinity="0" group="2" material="Aluminum_-_Anodized_Rough_(Grey)_1" />
      <geom name="base_link_col_0" type="box" size="0.12 0.07 0.11" group="3" />
      <body name="imu" quat="0.4999981633974483 0.49999999999662686 0.5000018366025516 0.49999999999662686">
        <inertial pos="0.0 0.0 0.0" mass="0.001" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
      </body>
      <body name="left_hip" pos="0.0 0.1 0.0" quat="0.4999981633974483 -0.49999999999662686 0.49999999999662686 0.5000018366025516">
        <joint name="left_hip" type="hinge" axis="0.0 0.0 1.0" range="0.5236 1.39626" />
        <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
        <geom name="left_hip_vis_0" type="mesh" mesh="simple_bot_mesh.006" quat="0.35355124167760826 0.35355254034621864 -0.6123744261620394 -0.6123721767893033" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
        <body name="left_knee" pos="0.225 0.0 0.0">
          <joint name="left_knee" type="hinge" axis="0.0 0.0 1.0" range="-2.79253 -1.0472" />
          <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
          <geom name="left_knee_vis_0" type="mesh" mesh="simple_bot_mesh.005" quat="0.6123708781189469 0.6123731274869127 -0.3535547897207008 -0.35355349104382805" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
          <geom name="left_knee_col_0" type="cylinder" size="0.03428 0.01219" pos="-0.025 0.065 -0.00764" quat="0.866024791582939 0.0 0.0 -0.5000010603626028" group="3" />
          <body name="left_wheel" pos="0.225 0.0 0.0">
            <joint name="left_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
            <inertial pos="0.0 0.0 0.0" mass="0.4" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
            <geom name="left_wheel_vis_0" type="mesh" mesh="simple_bot_mesh.004" quat="0.6123708781189469 0.6123731274869127 -0.3535547897207008 -0.35355349104382805" contype="0" conaffinity="0" group="2" material="Aluminum_-_Anodized_Rough_(Grey)" />
            <geom name="left_wheel_col_0" type="cylinder" size="0.1 0.012" pos="0.0 0.0 0.0415" quat="0.866024791582939 0.0 0.0 -0.5000010603626028" group="3" />
          </body>
        </body>
      </body>
      <body name="right_hip" pos="0.0 -0.1 0.0" quat="0.4999981633974483 0.49999999999662686 0.49999999999662686 -0.5000018366025516">
        <joint name="right_hip" type="hinge" axis="0.0 0.0 1.0" range="-1.39626 -0.5236" />
        <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
        <geom name="right_hip_vis_0" type="mesh" mesh="simple_bot_mesh.003" quat="0.35355124167760826 -0.35355254034621864 -0.6123744261620394 0.6123721767893033" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
        <body name="right_knee" pos="0.225 0.0 0.0">
          <joint name="right_knee" type="hinge" axis="0.0 0.0 1.0" range="1.0472 2.79253" />
          <inertial pos="0.0 0.0 0.0" mass="0.1" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
          <geom name="right_knee_vis_0" type="mesh" mesh="simple_bot_mesh.002" quat="0.6123708781189469 -0.6123731274869127 -0.3535547897207008 0.35355349104382805" contype="0" conaffinity="0" group="2" material="PA_12_-_Nylon_-_PA_603-CF_(with_EOS_P_3D_Printers)" />
          <geom name="right_knee_col_0" type="cylinder" size="0.03428 0.01219" pos="-0.025 -0.065 -0.00764" quat="0.866024791582939 0.0 0.0 0.5000010603626028" group="3" />
          <body name="right_wheel" pos="0.225 0.0 0.0">
            <joint name="right_wheel" type="hinge" axis="0.0 0.0 1.0" limited="false" />
            <inertial pos="0.0 0.0 0.0" mass="0.4" fullinertia="0.001 0.001 0.001 0.0 0.0 0.0" />
            <geom name="right_wheel_vis_0" type="mesh" mesh="simple_bot_mesh.001" quat="0.6123708781189469 -0.6123731274869127 -0.3535547897207008 0.35355349104382805" contype="0" conaffinity="0" group="2" material="Aluminum_-_Anodized_Rough_(Grey)" />
            <geom name="right_wheel_col_0" type="cylinder" size="0.1 0.012" pos="0.0 0.0 0.0415" quat="0.866024791582939 0.0 0.0 0.5000010603626028" group="3" />
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="imu" />
    <exclude body1="base_link" body2="left_hip" />
    <exclude body1="left_hip" body2="left_knee" />
    <exclude body1="left_knee" body2="left_wheel" />
    <exclude body1="base_link" body2="right_hip" />
    <exclude body1="right_hip" body2="right_knee" />
    <exclude body1="right_knee" body2="right_wheel" />
  </contact>
</mujoco>
