<?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>
