Agility Cassie

Built by:   Agility Robotics
Licence:    MIT
Source:     https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie
Collection: MuJoCo Menagerie
Packaged:   2026-11-05 by urdfbase.com/models/agility-cassie/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - mesh hip-roll.obj on link "right-hip-roll" has a scale of 1 -1 1; MJCF scales meshes in the asset section, so it was moved there
  - mesh hip-yaw.obj on link "right-hip-yaw" has a scale of 1 -1 1; MJCF scales meshes in the asset section, so it was moved there
  - mesh hip-pitch.obj on link "right-hip-pitch" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh achilles-rod.obj on link "right-achilles-rod" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh knee.obj on link "right-knee" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh knee-spring.obj on link "right-knee-spring" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh shin.obj on link "right-shin" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh tarsus.obj on link "right-tarsus" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh heel-spring.obj on link "right-heel-spring" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh foot-crank.obj on link "right-foot-crank" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh plantar-rod.obj on link "right-plantar-rod" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there
  - mesh foot.obj on link "right-foot" has a scale of 1 1 -1; MJCF scales meshes in the asset section, so it was moved there

The robot belongs to the people who built it. Credit the source, not this site.
