<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 88cc5f148c81f91f -->
<mujoco model="upkie">
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    <mesh name="knee_stator" file="upkie_description/meshes/knee_stator.stl" />
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                          <geom name="right_ankle_plate_vis_0" type="box" size="0.04 0.0225 0.0015" contype="0" conaffinity="0" group="2" material="light_gray" />
                          <geom name="right_ankle_plate_col_0" type="box" size="0.045 0.023 0.002" group="3" />
                          <body name="right_ankle_mj5208_stator" pos="0.0 0.0 -0.0015" quat="6.123233995736766e-17 1.0 0.0 0.0">
                            <inertial pos="0.0 0.0 0.01" mass="0.1721" fullinertia="4.3369200000000005e-05 4.3369200000000005e-05 7.7445e-05 0.0 0.0 0.0" />
                            <geom name="right_ankle_mj5208_stator_vis_0" type="mesh" mesh="mj5208_stator" contype="0" conaffinity="0" group="2" material="mj5208_stator" />
                            <geom name="right_ankle_mj5208_stator_col_0" type="cylinder" size="0.03 0.009" pos="0.0 0.0 0.01" group="3" />
                            <body name="right_anchor" pos="0.0 0.0545 0.048" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                              <inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
                              <geom name="right_anchor_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
                            </body>
                            <body name="right_ankle_mj5208_rotor">
                              <joint name="right_wheel" type="hinge" axis="0.0 0.0 -1.0" range="0.0 0.0" />
                              <inertial pos="0.0 0.0 0.015" mass="0.05" fullinertia="1.551666666666667e-05 1.551666666666667e-05 2.8900000000000005e-05 0.0 0.0 0.0" />
                              <geom name="right_ankle_mj5208_rotor_vis_0" type="mesh" mesh="mj5208_rotor" contype="0" conaffinity="0" group="2" material="mj5208_rotor" />
                              <geom name="right_ankle_mj5208_rotor_col_0" type="cylinder" size="0.034 0.008" pos="0.0 0.0 0.015" group="3" />
                              <body name="right_wheel_hub" pos="0.0 0.0 0.0251">
                                <inertial pos="0.0 0.0 0.0125" mass="0.0454" fullinertia="1.9627933333333332e-05 1.9627933333333332e-05 3.45267e-05 0.0 0.0 0.0" />
                                <geom name="right_wheel_hub_vis_0" type="mesh" mesh="wheel_hub" contype="0" conaffinity="0" group="2" material="terracotta_light" />
                                <geom name="right_wheel_hub_col_0" type="cylinder" size="0.039 0.0125" pos="0.0 0.0 0.0125" group="3" />
                                <body name="right_wheel_tire" pos="0.0 0.0 0.0209">
                                  <inertial pos="0.0 0.0 0.0" mass="0.08715" fullinertia="6.608875000000002e-05 6.608875000000002e-05 0.00010893750000000003 0.0 0.0 0.0" />
                                  <geom name="right_wheel_tire_vis_0" type="mesh" mesh="wheel_tire" contype="0" conaffinity="0" group="2" material="dark_gray" />
                                  <geom name="right_wheel_tire_col_0" type="cylinder" size="0.05 0.02" group="3" />
                                  <body name="right_contact" pos="0.0 0.047 0.0" quat="0.7071067811865476 0.7071067811865475 0.0 0.0">
                                    <inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
                                    <geom name="right_contact_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
                                  </body>
                                  <body name="right_wheel_center" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865476 -0.7071067811865475">
                                    <inertial pos="0.0 0.0 0.0" mass="0.001" diaginertia="0 0 0" />
                                    <geom name="right_wheel_center_vis_0" type="box" size="0.0 0.0 0.0" contype="0" conaffinity="0" group="2" />
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="torso" />
    <exclude body1="torso" body2="imu" />
    <exclude body1="torso" body2="battery" />
    <exclude body1="torso" body2="handle" />
    <exclude body1="torso" body2="left_hip_qdd100_stator" />
    <exclude body1="left_hip_qdd100_stator" body2="left_hip_qdd100_rotor" />
    <exclude body1="left_hip_qdd100_rotor" body2="left_hip_horn" />
    <exclude body1="left_hip_qdd100_rotor" body2="left_femur" />
    <exclude body1="left_femur" body2="left_knee_stator" />
    <exclude body1="left_knee_stator" body2="left_knee_qdd100_stator" />
    <exclude body1="left_knee_qdd100_stator" body2="left_knee_qdd100_rotor" />
    <exclude body1="left_knee_qdd100_rotor" body2="left_knee_horn" />
    <exclude body1="left_knee_qdd100_rotor" body2="left_tibia" />
    <exclude body1="left_tibia" body2="left_ankle_base" />
    <exclude body1="left_ankle_base" body2="left_ankle_plate" />
    <exclude body1="left_ankle_plate" body2="left_ankle_mj5208_stator" />
    <exclude body1="left_ankle_mj5208_stator" body2="left_anchor" />
    <exclude body1="left_ankle_mj5208_stator" body2="left_ankle_mj5208_rotor" />
    <exclude body1="left_ankle_mj5208_rotor" body2="left_wheel_hub" />
    <exclude body1="left_wheel_hub" body2="left_wheel_tire" />
    <exclude body1="left_wheel_tire" body2="left_contact" />
    <exclude body1="left_wheel_tire" body2="left_wheel_center" />
    <exclude body1="torso" body2="right_hip_qdd100_stator" />
    <exclude body1="right_hip_qdd100_stator" body2="right_hip_qdd100_rotor" />
    <exclude body1="right_hip_qdd100_rotor" body2="right_hip_horn" />
    <exclude body1="right_hip_qdd100_rotor" body2="right_femur" />
    <exclude body1="right_femur" body2="right_knee_stator" />
    <exclude body1="right_knee_stator" body2="right_knee_qdd100_stator" />
    <exclude body1="right_knee_qdd100_stator" body2="right_knee_qdd100_rotor" />
    <exclude body1="right_knee_qdd100_rotor" body2="right_knee_horn" />
    <exclude body1="right_knee_qdd100_rotor" body2="right_tibia" />
    <exclude body1="right_tibia" body2="right_ankle_base" />
    <exclude body1="right_ankle_base" body2="right_ankle_plate" />
    <exclude body1="right_ankle_plate" body2="right_ankle_mj5208_stator" />
    <exclude body1="right_ankle_mj5208_stator" body2="right_anchor" />
    <exclude body1="right_ankle_mj5208_stator" body2="right_ankle_mj5208_rotor" />
    <exclude body1="right_ankle_mj5208_rotor" body2="right_wheel_hub" />
    <exclude body1="right_wheel_hub" body2="right_wheel_tire" />
    <exclude body1="right_wheel_tire" body2="right_contact" />
    <exclude body1="right_wheel_tire" body2="right_wheel_center" />
  </contact>
</mujoco>
