Agility Cassie

Built by:   Agility Robotics
Licence:    MIT
Source:     https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie
Collection: MuJoCo Menagerie
Packaged:   2026-10-07 by urdfbase.com/models/agility-cassie/

This folder holds the model written as URDF, 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:
  - joint "left-achilles-rod_1" is a ball joint, which URDF cannot express; it is written as three revolute joints about x, y and z (left-achilles-rod_1_x, left-achilles-rod_1_y, left-achilles-rod_1_z) through two 1 g links
  - joint "right-achilles-rod_1" is a ball joint, which URDF cannot express; it is written as three revolute joints about x, y and z (right-achilles-rod_1_x, right-achilles-rod_1_y, right-achilles-rod_1_z) through two 1 g links
  - link "cassie-pelvis": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "cassie-pelvis": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-hip-pitch": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-shin": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-shin": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-shin": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-tarsus": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-tarsus": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-tarsus": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "left-foot": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-hip-pitch": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-shin": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-shin": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-shin": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-tarsus": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-tarsus": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-tarsus": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - link "right-foot": capsule in collision became a cylinder — URDF has no capsule primitive, the rounded caps are lost
  - the closed chain between "left-plantar-rod" and "left-foot" is gone — URDF describes a tree and has no way to express a loop; keep the MJCF or SDF if the mechanism is parallel
  - the closed chain between "left-achilles-rod" and "left-heel-spring" is gone — URDF describes a tree and has no way to express a loop; keep the MJCF or SDF if the mechanism is parallel
  - the closed chain between "right-plantar-rod" and "right-foot" is gone — URDF describes a tree and has no way to express a loop; keep the MJCF or SDF if the mechanism is parallel
  - the closed chain between "right-achilles-rod" and "right-heel-spring" is gone — URDF describes a tree and has no way to express a loop; keep the MJCF or SDF if the mechanism is parallel

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