<?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>
