<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 67530af00de8a9c4 -->
<mujoco model="skydio_x2">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <worldbody>
    <body name="x2">
      <inertial pos="0.0 0.0 0.1" mass="0.0" diaginertia="0 0 0" />
      <geom name="x2_vis_0" type="cylinder" size="0.06 0.0125" contype="0" conaffinity="0" group="2" />
      <geom name="x2_col_0" type="cylinder" size="0.06 0.0125" group="3" />
      <body name="center_of_mass_link">
        <inertial pos="0.0 0.0 0.02" mass="0.325" fullinertia="0.00013 0.00169 0.001768 0.0 0.0 0.0" />
      </body>
      <body name="rotor1" pos="-0.14 -0.18 0.05">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor1_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="rotor2" pos="-0.14 0.18 0.05">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor2_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="rotor3" pos="0.14 0.18 0.08">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor3_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="rotor4" pos="0.14 -0.18 0.08">
        <inertial pos="0.0 0.0 0.0" mass="0.25" fullinertia="0.00085 0.00085 0.00169 0.0 0.0 0.0" />
        <geom name="rotor4_vis_0" type="cylinder" size="0.13 0.0025" contype="0" conaffinity="0" group="2" />
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="x2" body2="center_of_mass_link" />
    <exclude body1="x2" body2="rotor1" />
    <exclude body1="x2" body2="rotor2" />
    <exclude body1="x2" body2="rotor3" />
    <exclude body1="x2" body2="rotor4" />
  </contact>
</mujoco>
