<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content b05c8a143289b71f -->
<mujoco model="solo">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="grey" rgba="0.8 0.8 0.8 1.0" />
    <mesh name="solo_12_base" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo_12_base.stl" />
    <mesh name="solo12_hip_fe_fl" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fl.stl" />
    <mesh name="solo_upper_leg_left_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_left_side.stl" />
    <mesh name="solo_lower_leg_left_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_left_side.stl" />
    <mesh name="solo_foot" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_foot.stl" />
    <mesh name="solo12_hip_fe_fr" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_fr.stl" />
    <mesh name="solo_upper_leg_right_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_upper_leg_right_side.stl" />
    <mesh name="solo_lower_leg_right_side" file="example-robot-data/robots/solo_description/meshes/stl/with_foot/solo_lower_leg_right_side.stl" />
    <mesh name="solo12_hip_fe_hl" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hl.stl" />
    <mesh name="solo12_hip_fe_hr" file="example-robot-data/robots/solo_description/meshes/stl/solo12/solo12_hip_fe_hr.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0.0 0.0 0.0" mass="1.16115091" fullinertia="0.00578574 0.01938108 0.02476124 0.0 0.0 0.0" />
      <geom name="base_link_vis_0" type="mesh" mesh="solo_12_base" contype="0" conaffinity="0" group="2" material="grey" />
      <geom name="base_link_col_0" type="mesh" mesh="solo_12_base" group="3" />
      <body name="FL_SHOULDER" pos="0.1946 0.0875 0.0">
        <joint name="FL_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="-0.078707 0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 4.671e-05 0.0 0.0" />
        <geom name="FL_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_fl" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="FL_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_fl" pos="0.0195 0.0 0.0" group="3" />
        <body name="FL_UPPER_LEG" pos="0.0 0.014 0.0">
          <joint name="FL_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="1.377e-05 0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 4.671e-05" />
          <geom name="FL_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="FL_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_left_side" group="3" />
          <body name="FL_LOWER_LEG" pos="0.0 0.03745 -0.16">
            <joint name="FL_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 3.05e-06" />
            <geom name="FL_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="FL_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_left_side" group="3" />
            <body name="FL_FOOT" pos="0.0 0.008 -0.16">
              <inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="FL_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="FL_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="FR_SHOULDER" pos="0.1946 -0.0875 0.0">
        <joint name="FR_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="-0.078707 -0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 -4.671e-05 0.0 0.0" />
        <geom name="FR_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_fr" pos="0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="FR_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_fr" pos="0.0195 0.0 0.0" group="3" />
        <body name="FR_UPPER_LEG" pos="0.0 -0.014 0.0">
          <joint name="FR_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="-1.377e-05 -0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 -4.671e-05" />
          <geom name="FR_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="FR_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_right_side" group="3" />
          <body name="FR_LOWER_LEG" pos="0.0 -0.03745 -0.16">
            <joint name="FR_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 -3.05e-06" />
            <geom name="FR_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="FR_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_right_side" group="3" />
            <body name="FR_FOOT" pos="0.0 -0.008 -0.16">
              <inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="FR_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="FR_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="HL_SHOULDER" pos="-0.1946 0.0875 0.0">
        <joint name="HL_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="0.078707 0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 4.671e-05 0.0 0.0" />
        <geom name="HL_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_hl" pos="-0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="HL_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_hl" pos="-0.0195 0.0 0.0" group="3" />
        <body name="HL_UPPER_LEG" pos="0.0 0.014 0.0">
          <joint name="HL_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="1.377e-05 0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 4.671e-05" />
          <geom name="HL_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="HL_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_left_side" group="3" />
          <body name="HL_LOWER_LEG" pos="0.0 0.03745 -0.16">
            <joint name="HL_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 3.05e-06" />
            <geom name="HL_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_left_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="HL_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_left_side" group="3" />
            <body name="HL_FOOT" pos="0.0 0.008 -0.16">
              <inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="HL_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="HL_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
      <body name="HR_SHOULDER" pos="-0.1946 -0.0875 0.0">
        <joint name="HR_HAA" type="hinge" axis="1.0 0.0 0.0" range="-10.0 10.0" />
        <inertial pos="0.078707 -0.01 0.0" mass="0.14853845" fullinertia="3.024e-05 0.00041193 0.00041107 -4.671e-05 0.0 0.0" />
        <geom name="HR_SHOULDER_vis_0" type="mesh" mesh="solo12_hip_fe_hr" pos="-0.0195 0.0 0.0" contype="0" conaffinity="0" group="2" material="grey" />
        <geom name="HR_SHOULDER_col_0" type="mesh" mesh="solo12_hip_fe_hr" pos="-0.0195 0.0 0.0" group="3" />
        <body name="HR_UPPER_LEG" pos="0.0 -0.014 0.0">
          <joint name="HR_HFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
          <inertial pos="-1.377e-05 -0.01935853 -0.078707" mass="0.14853845" fullinertia="0.00041107 0.00041193 3.024e-05 0.0 0.0 -4.671e-05" />
          <geom name="HR_UPPER_LEG_vis_0" type="mesh" mesh="solo_upper_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
          <geom name="HR_UPPER_LEG_col_0" type="mesh" mesh="solo_upper_leg_right_side" group="3" />
          <body name="HR_LOWER_LEG" pos="0.0 -0.03745 -0.16">
            <joint name="HR_KFE" type="hinge" axis="0.0 1.0 0.0" range="-10.0 10.0" />
            <inertial pos="0.0 0.00787644 -0.08928215" mass="0.03070001" fullinertia="0.00012024 0.00012029 2.16e-06 0.0 0.0 -3.05e-06" />
            <geom name="HR_LOWER_LEG_vis_0" type="mesh" mesh="solo_lower_leg_right_side" contype="0" conaffinity="0" group="2" material="grey" />
            <geom name="HR_LOWER_LEG_col_0" type="mesh" mesh="solo_lower_leg_right_side" group="3" />
            <body name="HR_FOOT" pos="0.0 -0.008 -0.16">
              <inertial pos="0.0 0.0 0.00035767" mass="0.00693606" fullinertia="5.7e-07 8.4e-07 5.3e-07 0.0 0.0 0.0" />
              <geom name="HR_FOOT_vis_0" type="mesh" mesh="solo_foot" contype="0" conaffinity="0" group="2" material="grey" />
              <geom name="HR_FOOT_col_0" type="mesh" mesh="solo_foot" group="3" />
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="FL_SHOULDER" />
    <exclude body1="FL_SHOULDER" body2="FL_UPPER_LEG" />
    <exclude body1="FL_UPPER_LEG" body2="FL_LOWER_LEG" />
    <exclude body1="FL_LOWER_LEG" body2="FL_FOOT" />
    <exclude body1="base_link" body2="FR_SHOULDER" />
    <exclude body1="FR_SHOULDER" body2="FR_UPPER_LEG" />
    <exclude body1="FR_UPPER_LEG" body2="FR_LOWER_LEG" />
    <exclude body1="FR_LOWER_LEG" body2="FR_FOOT" />
    <exclude body1="base_link" body2="HL_SHOULDER" />
    <exclude body1="HL_SHOULDER" body2="HL_UPPER_LEG" />
    <exclude body1="HL_UPPER_LEG" body2="HL_LOWER_LEG" />
    <exclude body1="HL_LOWER_LEG" body2="HL_FOOT" />
    <exclude body1="base_link" body2="HR_SHOULDER" />
    <exclude body1="HR_SHOULDER" body2="HR_UPPER_LEG" />
    <exclude body1="HR_UPPER_LEG" body2="HR_LOWER_LEG" />
    <exclude body1="HR_LOWER_LEG" body2="HR_FOOT" />
  </contact>
</mujoco>
