31 lines
937 B
Markdown
31 lines
937 B
Markdown
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# Agility Cassie Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the Cassie
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bipedal robot. The original MJCF and assets were provided directly by
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[Agility Robotics](http://www.agilityrobotics.com/) under an
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[MIT License](LICENSE).
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<p float="left">
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<img src="cassie.png" width="400">
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</p>
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## Modifications made to the original model
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1. Replaced single quotes with double quotes.
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2. Made collision geoms visible, put them in hidden group 3.
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3. Removed `nuser_actuator` and `nuser_sensor` (automatically inferred since
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MuJoCo 2.1.2).
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4. Changed solver from PGS to Newton.
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5. Removed `<visual>` clause.
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6. Removed attribute specs which are already default.
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7. Improved collision geometry.
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8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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## License
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This model is released under an [MIT License](LICENSE).
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