Cassie
Agility Robotics · licence MIT · source: github.com/robot-descriptions/cassie_description @ 81a2d8bbd
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content bf05b1682a7440dd -->
<robot name="cassie_v4">
<link name="pelvis">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/cassie-pelvis.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/cassie-pelvis.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.05066 0.000346 0.02841" rpy="0.0 0.0 0.0" />
<mass value="10.33" />
<inertia ixx="0.0942" ixy="0.000169" ixz="0.015" iyy="0.084" iyz="0.000516" izz="0.113" />
</inertial>
</link>
<link name="lefthiproll">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/LeftHipRoll.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/LeftHipRoll.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01793 0.0001 0.0257" rpy="0.0 0.0 0.0" />
<mass value="1.965608" />
<inertia ixx="0.00464" ixy="0.0" ixz="0.0" iyy="0.00559" iyz="0.0" izz="0.00272" />
</inertial>
</link>
<link name="lefthipyaw">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/LeftHipYaw.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/LeftHipYaw.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0557" rpy="0.0 0.0 0.0" />
<mass value="1.316608" />
<inertia ixx="0.00644" ixy="0.0" ixz="0.0" iyy="0.00608" iyz="0.0" izz="0.000842" />
</inertial>
</link>
<link name="lefthippitch">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/LeftHipPitch.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/LeftHipPitch.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.05946 5e-05 -0.03581" rpy="0.0 0.0 0.0" />
<mass value="5.79228" />
<inertia ixx="0.018" ixy="0.0" ixz="-0.0117" iyy="0.0563" iyz="0.0" izz="0.0498" />
</inertial>
</link>
<link name="leftknee">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-knee.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-knee.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.045862 0.0412393 -0.0016676" rpy="0.0 0.0 0.0" />
<mass value="1.03008" />
<inertia ixx="0.00264784327347" ixy="0.0" ixz="0.0" iyy="0.00534853175914" iyz="0.0" izz="0.00764061083179" />
</inertial>
</link>
<link name="leftshin">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-shin.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-shin.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.18338 0.001169 0.0002123" rpy="0.0 0.0 0.0" />
<mass value="0.763" />
<inertia ixx="0.00036" ixy="0.000334" ixz="0.0" iyy="0.0341" iyz="0.0" izz="0.0341" />
</inertial>
</link>
<link name="lefttarsus">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-tarsus.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-tarsus.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.121147466 -0.02258861359 0.00325857427" rpy="0.0 0.0 0.0" />
<mass value="1.03" />
<inertia ixx="0.00210029904934" ixy="-0.00254635550557" ixz="0.0" iyy="0.0255394864105" iyz="0.0" izz="0.0268199407448" />
</inertial>
</link>
<link name="leftheelspring">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-heel-spring.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-heel-spring.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.081 0.0022 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.126" />
<inertia ixx="3.02e-05" ixy="0.0" ixz="0.0" iyy="0.00105" iyz="0.0" izz="0.00103" />
</inertial>
</link>
<link name="leftfoot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-foot.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-foot.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00474 0.02748 -0.00014" rpy="0.0 0.0 0.0" />
<mass value="0.1498" />
<inertia ixx="0.000287" ixy="0.0" ixz="0.0" iyy="0.000171" iyz="0.0" izz="0.000449" />
</inertial>
</link>
<link name="righthiproll">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/RightHipRoll.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/RightHipRoll.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.01793 -0.0001 0.0257" rpy="0.0 0.0 0.0" />
<mass value="1.965608" />
<inertia ixx="0.00464" ixy="0.0" ixz="0.0" iyy="0.00559" iyz="0.0" izz="0.00272" />
</inertial>
</link>
<link name="righthipyaw">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/RightHipYaw.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/RightHipYaw.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0557" rpy="0.0 0.0 0.0" />
<mass value="1.316608" />
<inertia ixx="0.00644" ixy="0.0" ixz="0.0" iyy="0.00608" iyz="0.0" izz="0.000842" />
</inertial>
</link>
<link name="righthippitch">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/RightHipPitch.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/RightHipPitch.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.05946 5e-05 0.03581" rpy="0.0 0.0 0.0" />
<mass value="5.79228" />
<inertia ixx="0.018" ixy="0.0" ixz="0.0117" iyy="0.0563" iyz="0.0" izz="0.0498" />
</inertial>
</link>
<link name="rightknee">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-knee.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-knee.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.045862 0.0412393 0.0016676" rpy="0.0 0.0 0.0" />
<mass value="1.03008" />
<inertia ixx="0.00264784327347" ixy="0.0" ixz="0.0" iyy="0.00534853175914" iyz="0.0" izz="0.00764061083179" />
</inertial>
</link>
<link name="rightshin">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-shin.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-shin.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.18338 0.001169 -0.0002123" rpy="0.0 0.0 0.0" />
<mass value="0.763" />
<inertia ixx="0.00036" ixy="0.000334" ixz="0.0" iyy="0.0341" iyz="0.0" izz="0.0341" />
</inertial>
</link>
<link name="righttarsus">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-tarsus.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-tarsus.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.121147466 -0.02258861359 -0.00325857427" rpy="0.0 0.0 0.0" />
<mass value="1.03" />
<inertia ixx="0.00210029904934" ixy="-0.00254635550557" ixz="0.0" iyy="0.0255394864105" iyz="0.0" izz="0.0268199407448" />
</inertial>
</link>
<link name="rightheelspring">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-heel-spring.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/left-heel-spring.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.081 0.0022 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.126" />
<inertia ixx="3.02e-05" ixy="0.0" ixz="0.0" iyy="0.00105" iyz="0.0" izz="0.00103" />
</inertial>
</link>
<link name="rightfoot">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-foot.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://cassie_description/meshes/right-foot.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00474 0.02748 0.00014" rpy="0.0 0.0 0.0" />
<mass value="0.1498" />
<inertia ixx="0.000287" ixy="0.0" ixz="0.0" iyy="0.000171" iyz="0.0" izz="0.000449" />
</inertial>
</link>
<joint name="LeftHipRoll" type="revolute">
<origin xyz="-0.049 0.135 0.0" rpy="0.0 1.570796326794897 0.0" />
<parent link="pelvis" />
<child link="lefthiproll" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="4.5" velocity="12.15" lower="-0.3927" upper="0.3927" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftHipYaw" type="revolute">
<origin xyz="0.09 0.0 0.0" rpy="0.0 -1.570796326794897 0.0" />
<parent link="lefthiproll" />
<child link="lefthipyaw" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="4.5" velocity="12.15" lower="-0.3927" upper="0.3927" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftHipPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 1.57079632679 0.0" />
<parent link="lefthipyaw" />
<child link="lefthippitch" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.2" velocity="8.5" lower="-0.8727" upper="1.3963" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftKneePitch" type="revolute">
<origin xyz="0.12 0.0 0.0045" rpy="0.0 0.0 0.0" />
<parent link="lefthippitch" />
<child link="leftknee" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.2" velocity="8.5" lower="-2.8623" upper="-0.95" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftShinPitch" type="revolute">
<origin xyz="0.06068 0.04741 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftknee" />
<child link="leftshin" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="20.0" lower="-0.3" upper="0.3" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftTarsusPitch" type="revolute">
<origin xyz="0.43476 0.02 0.0" rpy="0.0 0.0 0.0" />
<parent link="leftshin" />
<child link="lefttarsus" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="20.0" lower="0.75" upper="3.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftAchillesSpring" type="revolute">
<origin xyz="-0.01269 -0.03059 0.00092" rpy="-0.0689428 -0.036956 2.7207121" />
<parent link="lefttarsus" />
<child link="leftheelspring" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="20.0" lower="-0.3" upper="0.3" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="LeftFootPitch" type="revolute">
<origin xyz="0.408 -0.04 0.0" rpy="0.0 0.0 0.0" />
<parent link="lefttarsus" />
<child link="leftfoot" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.9" velocity="11.52" lower="-2.4435" upper="-0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightHipRoll" type="revolute">
<origin xyz="-0.049 -0.135 0.0" rpy="0.0 1.570796326794897 0.0" />
<parent link="pelvis" />
<child link="righthiproll" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="4.5" velocity="12.15" lower="-0.3927" upper="0.3927" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightHipYaw" type="revolute">
<origin xyz="0.09 0.0 0.0" rpy="0.0 -1.570796326794897 0.0" />
<parent link="righthiproll" />
<child link="righthipyaw" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="4.5" velocity="12.15" lower="-0.3927" upper="0.3927" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightHipPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="1.57079632679 1.57079632679 0.0" />
<parent link="righthipyaw" />
<child link="righthippitch" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.2" velocity="8.5" lower="-0.8727" upper="1.3963" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightKneePitch" type="revolute">
<origin xyz="0.12 0.0 -0.0045" rpy="0.0 0.0 0.0" />
<parent link="righthippitch" />
<child link="rightknee" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="12.2" velocity="8.5" lower="-2.8623" upper="-0.95" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightShinPitch" type="revolute">
<origin xyz="0.06068 0.04741 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightknee" />
<child link="rightshin" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="20.0" lower="-0.3" upper="0.3" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightTarsusPitch" type="revolute">
<origin xyz="0.43476 0.02 0.0" rpy="0.0 0.0 0.0" />
<parent link="rightshin" />
<child link="righttarsus" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="20.0" lower="0.75" upper="3.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightAchillesSpring" type="revolute">
<origin xyz="-0.01269 -0.03059 -0.00092" rpy="0.0689428 0.036956 2.7207121" />
<parent link="righttarsus" />
<child link="rightheelspring" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="20.0" lower="-0.3" upper="0.3" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<joint name="RightFootPitch" type="revolute">
<origin xyz="0.408 -0.04 0.0" rpy="0.0 0.0 0.0" />
<parent link="righttarsus" />
<child link="rightfoot" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.9" velocity="11.52" lower="-2.4435" upper="-0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content bf05b1682a7440dd -->
<mujoco model="cassie_v4">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="cassie-pelvis" file="cassie_description/meshes/cassie-pelvis.stl" />
<mesh name="LeftHipRoll" file="cassie_description/meshes/LeftHipRoll.stl" />
<mesh name="LeftHipYaw" file="cassie_description/meshes/LeftHipYaw.stl" />
<mesh name="LeftHipPitch" file="cassie_description/meshes/LeftHipPitch.stl" />
<mesh name="left-knee" file="cassie_description/meshes/left-knee.stl" />
<mesh name="left-shin" file="cassie_description/meshes/left-shin.stl" />
<mesh name="left-tarsus" file="cassie_description/meshes/left-tarsus.stl" />
<mesh name="left-heel-spring" file="cassie_description/meshes/left-heel-spring.stl" />
<mesh name="left-foot" file="cassie_description/meshes/left-foot.stl" />
<mesh name="RightHipRoll" file="cassie_description/meshes/RightHipRoll.stl" />
<mesh name="RightHipYaw" file="cassie_description/meshes/RightHipYaw.stl" />
<mesh name="RightHipPitch" file="cassie_description/meshes/RightHipPitch.stl" />
<mesh name="right-knee" file="cassie_description/meshes/right-knee.stl" />
<mesh name="right-shin" file="cassie_description/meshes/right-shin.stl" />
<mesh name="right-tarsus" file="cassie_description/meshes/right-tarsus.stl" />
<mesh name="right-foot" file="cassie_description/meshes/right-foot.stl" />
</asset>
<worldbody>
<body name="pelvis">
<inertial pos="0.05066 0.000346 0.02841" mass="10.33" fullinertia="0.0942 0.084 0.113 0.000169 0.015 0.000516" />
<geom name="pelvis_vis_0" type="mesh" mesh="cassie-pelvis" contype="0" conaffinity="0" group="2" />
<geom name="pelvis_col_0" type="mesh" mesh="cassie-pelvis" group="3" />
<body name="lefthiproll" pos="-0.049 0.135 0.0" quat="0.7071067811865474 0.0 0.7071067811865477 0.0">
<joint name="LeftHipRoll" type="hinge" axis="0.0 0.0 1.0" range="-0.3927 0.3927" />
<inertial pos="-0.01793 0.0001 0.0257" mass="1.965608" fullinertia="0.00464 0.00559 0.00272 0.0 0.0 0.0" />
<geom name="lefthiproll_vis_0" type="mesh" mesh="LeftHipRoll" contype="0" conaffinity="0" group="2" />
<geom name="lefthiproll_col_0" type="mesh" mesh="LeftHipRoll" group="3" />
<body name="lefthipyaw" pos="0.09 0.0 0.0" quat="0.7071067811865474 0.0 -0.7071067811865477 0.0">
<joint name="LeftHipYaw" type="hinge" axis="0.0 0.0 1.0" range="-0.3927 0.3927" />
<inertial pos="0.0 0.0 0.0557" mass="1.316608" fullinertia="0.00644 0.00608 0.000842 0.0 0.0 0.0" />
<geom name="lefthipyaw_vis_0" type="mesh" mesh="LeftHipYaw" contype="0" conaffinity="0" group="2" />
<geom name="lefthipyaw_col_0" type="mesh" mesh="LeftHipYaw" group="3" />
<body name="lefthippitch" quat="0.5000000000024483 0.5 0.5 -0.4999999999975517">
<joint name="LeftHipPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.8727 1.3963" />
<inertial pos="0.05946 5e-05 -0.03581" mass="5.79228" fullinertia="0.018 0.0563 0.0498 0.0 -0.0117 0.0" />
<geom name="lefthippitch_vis_0" type="mesh" mesh="LeftHipPitch" contype="0" conaffinity="0" group="2" />
<geom name="lefthippitch_col_0" type="mesh" mesh="LeftHipPitch" group="3" />
<body name="leftknee" pos="0.12 0.0 0.0045">
<joint name="LeftKneePitch" type="hinge" axis="0.0 0.0 1.0" range="-2.8623 -0.95" />
<inertial pos="0.045862 0.0412393 -0.0016676" mass="1.03008" fullinertia="0.00264784327347 0.00534853175914 0.00764061083179 0.0 0.0 0.0" />
<geom name="leftknee_vis_0" type="mesh" mesh="left-knee" contype="0" conaffinity="0" group="2" />
<geom name="leftknee_col_0" type="mesh" mesh="left-knee" group="3" />
<body name="leftshin" pos="0.06068 0.04741 0.0">
<joint name="LeftShinPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.3 0.3" />
<inertial pos="0.18338 0.001169 0.0002123" mass="0.763" fullinertia="0.00036 0.0341 0.0341 0.000334 0.0 0.0" />
<geom name="leftshin_vis_0" type="mesh" mesh="left-shin" contype="0" conaffinity="0" group="2" />
<geom name="leftshin_col_0" type="mesh" mesh="left-shin" group="3" />
<body name="lefttarsus" pos="0.43476 0.02 0.0">
<joint name="LeftTarsusPitch" type="hinge" axis="0.0 0.0 1.0" range="0.75 3.0" />
<inertial pos="0.121147466 -0.02258861359 0.00325857427" mass="1.03" fullinertia="0.00210029904934 0.0255394864105 0.0268199407448 -0.00254635550557 0.0 0.0" />
<geom name="lefttarsus_vis_0" type="mesh" mesh="left-tarsus" contype="0" conaffinity="0" group="2" />
<geom name="lefttarsus_col_0" type="mesh" mesh="left-tarsus" group="3" />
<body name="leftheelspring" pos="-0.01269 -0.03059 0.00092" quat="0.20935349882145257 0.010860502246752089 -0.03755586389655682 0.9770581963778553">
<joint name="LeftAchillesSpring" type="hinge" axis="0.0 0.0 1.0" range="-0.3 0.3" />
<inertial pos="0.081 0.0022 0.0" mass="0.126" fullinertia="3.02e-05 0.00105 0.00103 0.0 0.0 0.0" />
<geom name="leftheelspring_vis_0" type="mesh" mesh="left-heel-spring" contype="0" conaffinity="0" group="2" />
<geom name="leftheelspring_col_0" type="mesh" mesh="left-heel-spring" group="3" />
</body>
<body name="leftfoot" pos="0.408 -0.04 0.0">
<joint name="LeftFootPitch" type="hinge" axis="0.0 0.0 1.0" range="-2.4435 -0.5236" />
<inertial pos="0.00474 0.02748 -0.00014" mass="0.1498" fullinertia="0.000287 0.000171 0.000449 0.0 0.0 0.0" />
<geom name="leftfoot_vis_0" type="mesh" mesh="left-foot" contype="0" conaffinity="0" group="2" />
<geom name="leftfoot_col_0" type="mesh" mesh="left-foot" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="righthiproll" pos="-0.049 -0.135 0.0" quat="0.7071067811865474 0.0 0.7071067811865477 0.0">
<joint name="RightHipRoll" type="hinge" axis="0.0 0.0 1.0" range="-0.3927 0.3927" />
<inertial pos="-0.01793 -0.0001 0.0257" mass="1.965608" fullinertia="0.00464 0.00559 0.00272 0.0 0.0 0.0" />
<geom name="righthiproll_vis_0" type="mesh" mesh="RightHipRoll" contype="0" conaffinity="0" group="2" />
<geom name="righthiproll_col_0" type="mesh" mesh="RightHipRoll" group="3" />
<body name="righthipyaw" pos="0.09 0.0 0.0" quat="0.7071067811865474 0.0 -0.7071067811865477 0.0">
<joint name="RightHipYaw" type="hinge" axis="0.0 0.0 1.0" range="-0.3927 0.3927" />
<inertial pos="0.0 0.0 0.0557" mass="1.316608" fullinertia="0.00644 0.00608 0.000842 0.0 0.0 0.0" />
<geom name="righthipyaw_vis_0" type="mesh" mesh="RightHipYaw" contype="0" conaffinity="0" group="2" />
<geom name="righthipyaw_col_0" type="mesh" mesh="RightHipYaw" group="3" />
<body name="righthippitch" quat="0.5000000000024483 0.5 0.5 -0.4999999999975517">
<joint name="RightHipPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.8727 1.3963" />
<inertial pos="0.05946 5e-05 0.03581" mass="5.79228" fullinertia="0.018 0.0563 0.0498 0.0 0.0117 0.0" />
<geom name="righthippitch_vis_0" type="mesh" mesh="RightHipPitch" contype="0" conaffinity="0" group="2" />
<geom name="righthippitch_col_0" type="mesh" mesh="RightHipPitch" group="3" />
<body name="rightknee" pos="0.12 0.0 -0.0045">
<joint name="RightKneePitch" type="hinge" axis="0.0 0.0 1.0" range="-2.8623 -0.95" />
<inertial pos="0.045862 0.0412393 0.0016676" mass="1.03008" fullinertia="0.00264784327347 0.00534853175914 0.00764061083179 0.0 0.0 0.0" />
<geom name="rightknee_vis_0" type="mesh" mesh="right-knee" contype="0" conaffinity="0" group="2" />
<geom name="rightknee_col_0" type="mesh" mesh="right-knee" group="3" />
<body name="rightshin" pos="0.06068 0.04741 0.0">
<joint name="RightShinPitch" type="hinge" axis="0.0 0.0 1.0" range="-0.3 0.3" />
<inertial pos="0.18338 0.001169 -0.0002123" mass="0.763" fullinertia="0.00036 0.0341 0.0341 0.000334 0.0 0.0" />
<geom name="rightshin_vis_0" type="mesh" mesh="right-shin" contype="0" conaffinity="0" group="2" />
<geom name="rightshin_col_0" type="mesh" mesh="right-shin" group="3" />
<body name="righttarsus" pos="0.43476 0.02 0.0">
<joint name="RightTarsusPitch" type="hinge" axis="0.0 0.0 1.0" range="0.75 3.0" />
<inertial pos="0.121147466 -0.02258861359 -0.00325857427" mass="1.03" fullinertia="0.00210029904934 0.0255394864105 0.0268199407448 -0.00254635550557 0.0 0.0" />
<geom name="righttarsus_vis_0" type="mesh" mesh="right-tarsus" contype="0" conaffinity="0" group="2" />
<geom name="righttarsus_col_0" type="mesh" mesh="right-tarsus" group="3" />
<body name="rightheelspring" pos="-0.01269 -0.03059 -0.00092" quat="0.20935349882145257 -0.010860502246752089 0.03755586389655682 0.9770581963778553">
<joint name="RightAchillesSpring" type="hinge" axis="0.0 0.0 1.0" range="-0.3 0.3" />
<inertial pos="0.081 0.0022 0.0" mass="0.126" fullinertia="3.02e-05 0.00105 0.00103 0.0 0.0 0.0" />
<geom name="rightheelspring_vis_0" type="mesh" mesh="left-heel-spring" contype="0" conaffinity="0" group="2" />
<geom name="rightheelspring_col_0" type="mesh" mesh="left-heel-spring" group="3" />
</body>
<body name="rightfoot" pos="0.408 -0.04 0.0">
<joint name="RightFootPitch" type="hinge" axis="0.0 0.0 1.0" range="-2.4435 -0.5236" />
<inertial pos="0.00474 0.02748 0.00014" mass="0.1498" fullinertia="0.000287 0.000171 0.000449 0.0 0.0 0.0" />
<geom name="rightfoot_vis_0" type="mesh" mesh="right-foot" contype="0" conaffinity="0" group="2" />
<geom name="rightfoot_col_0" type="mesh" mesh="right-foot" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="pelvis" body2="lefthiproll" />
<exclude body1="lefthiproll" body2="lefthipyaw" />
<exclude body1="lefthipyaw" body2="lefthippitch" />
<exclude body1="lefthippitch" body2="leftknee" />
<exclude body1="leftknee" body2="leftshin" />
<exclude body1="leftshin" body2="lefttarsus" />
<exclude body1="lefttarsus" body2="leftheelspring" />
<exclude body1="lefttarsus" body2="leftfoot" />
<exclude body1="pelvis" body2="righthiproll" />
<exclude body1="righthiproll" body2="righthipyaw" />
<exclude body1="righthipyaw" body2="righthippitch" />
<exclude body1="righthippitch" body2="rightknee" />
<exclude body1="rightknee" body2="rightshin" />
<exclude body1="rightshin" body2="righttarsus" />
<exclude body1="righttarsus" body2="rightheelspring" />
<exclude body1="righttarsus" body2="rightfoot" />
</contact>
</mujoco>
Import report
Counts
| Links | 17 |
|---|---|
| Joints | 16 |
| Moving joints | 16 |
| Visuals | 17 |
| Collisions | 17 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 43.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
material | 17 | anonymous material (empty name) cannot be referenced; its colour is not kept |
transmission | 10 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 17 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 4.3e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 16).
Source & licence
| Repository | https://github.com/robot-descriptions/cassie_description |
|---|---|
| Commit | 81a2d8bbd77201cc974afb127adda4e2857a6dbf |
| Original file | urdf/cassie_v4.urdf |
| Licence | MIT · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.