<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content a4d0db78accbae07 -->
<mujoco model="wheel_legged">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="black" rgba="0.0 0.0 0.0 1.0" />
    <material name="blue" rgba="0.0 0.0 0.8 1.0" />
    <material name="green" rgba="0.0 0.8 0.0 1.0" />
    <material name="grey" rgba="0.2 0.2 0.2 1.0" />
    <material name="silver" rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0" />
    <material name="orange" rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" />
    <material name="brown" rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0" />
    <material name="red" rgba="0.8 0.0 0.0 1.0" />
    <material name="white" rgba="1.0 1.0 1.0 1.0" />
    <mesh name="trunk" file="robot_description/wheellegged/WL_P311E/meshes/trunk.STL" />
    <mesh name="LF_hip" file="robot_description/wheellegged/WL_P311E/meshes/LF_hip.STL" />
    <mesh name="LF_thigh" file="robot_description/wheellegged/WL_P311E/meshes/LF_thigh.STL" />
    <mesh name="LF_calf" file="robot_description/wheellegged/WL_P311E/meshes/LF_calf.STL" />
    <mesh name="LF_wheel" file="robot_description/wheellegged/WL_P311E/meshes/LF_wheel.STL" />
    <mesh name="RF_hip" file="robot_description/wheellegged/WL_P311E/meshes/RF_hip.STL" />
    <mesh name="RF_thigh" file="robot_description/wheellegged/WL_P311E/meshes/RF_thigh.STL" />
    <mesh name="RF_calf" file="robot_description/wheellegged/WL_P311E/meshes/RF_calf.STL" />
    <mesh name="RF_wheel" file="robot_description/wheellegged/WL_P311E/meshes/RF_wheel.STL" />
    <mesh name="LH_hip" file="robot_description/wheellegged/WL_P311E/meshes/LH_hip.STL" />
    <mesh name="LH_thigh" file="robot_description/wheellegged/WL_P311E/meshes/LH_thigh.STL" />
    <mesh name="LH_calf" file="robot_description/wheellegged/WL_P311E/meshes/LH_calf.STL" />
    <mesh name="LH_wheel" file="robot_description/wheellegged/WL_P311E/meshes/LH_wheel.STL" />
    <mesh name="RH_hip" file="robot_description/wheellegged/WL_P311E/meshes/RH_hip.STL" />
    <mesh name="RH_thigh" file="robot_description/wheellegged/WL_P311E/meshes/RH_thigh.STL" />
    <mesh name="RH_calf" file="robot_description/wheellegged/WL_P311E/meshes/RH_calf.STL" />
    <mesh name="RH_wheel" file="robot_description/wheellegged/WL_P311E/meshes/RH_wheel.STL" />
  </asset>
  <worldbody>
    <body name="base">
      <inertial pos="0.00753 -0.00067 -0.04359" mass="23.787" fullinertia="0.17222073 1.15539026 1.2147365 0.00339712 -0.0092304 -0.00099682" />
      <geom name="base_vis_0" type="mesh" mesh="trunk" pos="0.0 0.0 -0.045" contype="0" conaffinity="0" group="2" material="orange" />
      <geom name="base_col_0" type="box" size="0.532 0.1325 0.079" pos="-0.0455 0.0 -0.07551" group="3" />
      <body name="limx_imu">
        <inertial pos="0.0 0.0 0.0" mass="0.01" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
        <geom name="limx_imu_vis_0" type="box" size="0.0075 0.0075 0.002" contype="0" conaffinity="0" group="2" />
      </body>
      <body name="LF_hip" pos="0.2508 0.065 -0.045">
        <joint name="LF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
        <inertial pos="0.057951 0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 -3.0903e-05 -4.03e-06 5.045e-06" />
        <geom name="LF_hip_vis_0" type="mesh" mesh="LF_hip" contype="0" conaffinity="0" group="2" material="orange" />
        <body name="LF_thigh" pos="0.064 0.0363 0.0">
          <joint name="LF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
          <inertial pos="-0.061914 0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 0.00579372 0.001694032 -0.000522747" />
          <geom name="LF_thigh_vis_0" type="mesh" mesh="LF_thigh" contype="0" conaffinity="0" group="2" material="orange" />
          <body name="LF_calf" pos="-0.28 0.09075 0.0">
            <joint name="LF_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
            <inertial pos="0.175672 0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 -0.000248509 0.006450451 0.000233879" />
            <geom name="LF_calf_vis_0" type="mesh" mesh="LF_calf" contype="0" conaffinity="0" group="2" material="orange" />
            <geom name="LF_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
            <body name="LF_wheel" pos="0.21449 0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
              <joint name="LF_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
              <inertial pos="-3.6e-05 0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 7e-09 1.942e-06 6.3e-08" />
              <geom name="LF_wheel_vis_0" type="mesh" mesh="LF_wheel" contype="0" conaffinity="0" group="2" material="orange" />
              <geom name="LF_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
              <body name="LF_foot" pos="0.0 0.0 -0.127">
                <geom name="LF_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RF_hip" pos="0.2508 -0.065 -0.045">
        <joint name="RF_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
        <inertial pos="0.057951 -0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 3.0903e-05 -4.03e-06 -5.045e-06" />
        <geom name="RF_hip_vis_0" type="mesh" mesh="RF_hip" contype="0" conaffinity="0" group="2" material="orange" />
        <body name="RF_thigh" pos="0.064 -0.0363 0.0">
          <joint name="RF_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
          <inertial pos="-0.061914 -0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 -0.00579372 0.001694032 0.000522747" />
          <geom name="RF_thigh_vis_0" type="mesh" mesh="RF_thigh" contype="0" conaffinity="0" group="2" material="orange" />
          <body name="RF_calf" pos="-0.28 -0.09075 0.0">
            <joint name="RF_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
            <inertial pos="0.175672 -0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 0.000248509 0.006450451 -0.000233879" />
            <geom name="RF_calf_vis_0" type="mesh" mesh="RF_calf" contype="0" conaffinity="0" group="2" material="orange" />
            <geom name="RF_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
            <body name="RF_wheel" pos="0.21449 -0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
              <joint name="RF_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
              <inertial pos="-3.6e-05 -0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 -7e-09 1.942e-06 -6.3e-08" />
              <geom name="RF_wheel_vis_0" type="mesh" mesh="RF_wheel" contype="0" conaffinity="0" group="2" material="orange" />
              <geom name="RF_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
              <body name="RF_foot" pos="0.0 0.0 -0.127">
                <geom name="RF_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="LH_hip" pos="-0.2508 0.065 -0.045">
        <joint name="LH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
        <inertial pos="-0.057951 0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 3.0903e-05 4.03e-06 5.045e-06" />
        <geom name="LH_hip_vis_0" type="mesh" mesh="LH_hip" contype="0" conaffinity="0" group="2" material="orange" />
        <body name="LH_thigh" pos="-0.064 0.0363 0.0">
          <joint name="LH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
          <inertial pos="-0.061914 0.061328 0.00435" mass="2.997" fullinertia="0.005164125 0.036812985 0.038207062 0.00579372 0.001694032 -0.000522747" />
          <geom name="LH_thigh_vis_0" type="mesh" mesh="LH_thigh" contype="0" conaffinity="0" group="2" material="orange" />
          <body name="LH_calf" pos="-0.28 0.09075 0.0">
            <joint name="LH_KFE" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.0943951023932" damping="0.05" frictionloss="0.01" />
            <inertial pos="0.175672 0.004984 -0.145368" mass="1.405" fullinertia="0.006518228 0.014553507 0.008539584 -0.000248509 0.006450451 0.000233879" />
            <geom name="LH_calf_vis_0" type="mesh" mesh="LH_calf" contype="0" conaffinity="0" group="2" material="orange" />
            <geom name="LH_calf_col_0" type="box" size="0.14 0.0115 0.02255" pos="0.10876 0.0 -0.08805" quat="0.9426414911385422 0.0 0.3338068591028434 0.0" group="3" />
            <body name="LH_wheel" pos="0.21449 0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
              <joint name="LH_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
              <inertial pos="-3.6e-05 0.000971 -3.9e-05" mass="0.995" fullinertia="0.004921306 0.009327 0.004921781 7e-09 1.942e-06 6.3e-08" />
              <geom name="LH_wheel_vis_0" type="mesh" mesh="LH_wheel" contype="0" conaffinity="0" group="2" material="orange" />
              <geom name="LH_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
              <body name="LH_foot" pos="0.0 0.0 -0.127">
                <geom name="LH_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RH_hip" pos="-0.2508 -0.065 -0.045">
        <joint name="RH_HAA" type="hinge" axis="1.0 0.0 0.0" range="-0.87 0.87" damping="0.05" frictionloss="0.01" />
        <inertial pos="-0.057951 -0.00922 -1.7e-05" mass="1.543" fullinertia="0.001250053 0.002049507 0.001568073 -3.0903e-05 4.03e-06 -5.045e-06" />
        <geom name="RH_hip_vis_0" type="mesh" mesh="RH_hip" contype="0" conaffinity="0" group="2" material="orange" />
        <body name="RH_thigh" pos="-0.064 -0.0363 0.0">
          <joint name="RH_HFE" type="hinge" axis="0.0 1.0 0.0" range="-2.27 1.22" damping="0.05" frictionloss="0.01" />
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          <body name="RH_calf" pos="-0.28 -0.09075 0.0">
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            <body name="RH_wheel" pos="0.21449 -0.03459 -0.17998" quat="0.9887710779360422 0.0 -0.14943813247359922 0.0">
              <joint name="RH_WHL" type="hinge" axis="0.0 1.0 0.0" range="-1000.0 1000.0" frictionloss="1.0" />
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              <geom name="RH_wheel_vis_0" type="mesh" mesh="RH_wheel" contype="0" conaffinity="0" group="2" material="orange" />
              <geom name="RH_wheel_col_0" type="cylinder" size="0.127 0.0085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
              <body name="RH_foot" pos="0.0 0.0 -0.127">
                <geom name="RH_foot_vis_0" type="sphere" size="0.03" contype="0" conaffinity="0" group="2" />
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base" body2="limx_imu" />
    <exclude body1="base" body2="LF_hip" />
    <exclude body1="LF_hip" body2="LF_thigh" />
    <exclude body1="LF_thigh" body2="LF_calf" />
    <exclude body1="LF_calf" body2="LF_wheel" />
    <exclude body1="LF_wheel" body2="LF_foot" />
    <exclude body1="base" body2="RF_hip" />
    <exclude body1="RF_hip" body2="RF_thigh" />
    <exclude body1="RF_thigh" body2="RF_calf" />
    <exclude body1="RF_calf" body2="RF_wheel" />
    <exclude body1="RF_wheel" body2="RF_foot" />
    <exclude body1="base" body2="LH_hip" />
    <exclude body1="LH_hip" body2="LH_thigh" />
    <exclude body1="LH_thigh" body2="LH_calf" />
    <exclude body1="LH_calf" body2="LH_wheel" />
    <exclude body1="LH_wheel" body2="LH_foot" />
    <exclude body1="base" body2="RH_hip" />
    <exclude body1="RH_hip" body2="RH_thigh" />
    <exclude body1="RH_thigh" body2="RH_calf" />
    <exclude body1="RH_calf" body2="RH_wheel" />
    <exclude body1="RH_wheel" body2="RH_foot" />
  </contact>
</mujoco>
