# MuJoCo Menagerie: agility cassie/cassie.xml

Official pinned robot model text for agility cassie/cassie.xml. Inspect the upstream package and adjacent assets before use.

ID: `mujoco-menagerie-artifact-agility-cassie-cassie-xml`

Record version: `source-92ec84d23a0f62a848b4d646fc9197cad3b0c518bb6cb1aafe241b3db88dd885`

Hub commit: `bc3e9b72c9117bc282abdf8399eb6f1412d09418`

## Access

Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/agility_cassie/README.md

## Source and license

- Repository: https://github.com/google-deepmind/mujoco_menagerie
- Pinned source: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/agility_cassie/cassie.xml
- Revision: `62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35`
- Path: `agility_cassie/cassie.xml`
- Source SHA256: `92ec84d23a0f62a848b4d646fc9197cad3b0c518bb6cb1aafe241b3db88dd885`
- Source bytes: 18468
- Original authors: See pinned upstream source and license notices.
- License: [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/agility_cassie/LICENSE)
- License scope: Model/scene description text in this model directory only. Preserve this model-specific license and upstream notices. Included models, meshes, textures, dependencies and trademarks retain their applicable rights; this index does not redistribute them.

License SHA256: `66a031b71b6164c91683ccf2929faef82b3df5e51844322807fd7dc5cf238c38`

## Artifact

```json
{
  "kind": "robot_model",
  "format": "mjcf",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "root": "mujoco",
    "references": [
      "achilles-rod.obj",
      "assets",
      "cassie-texture.png",
      "foot-crank.obj",
      "foot.obj",
      "heel-spring.obj",
      "hip-pitch.obj",
      "hip-roll.obj",
      "hip-yaw.obj",
      "knee-spring.obj",
      "knee.obj",
      "pelvis.obj",
      "plantar-rod.obj",
      "shin.obj",
      "tarsus.obj"
    ],
    "references_truncated": false
  }
}
```

## Requirements

```json
{
  "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
  "packages": [
    "MuJoCo version specified by the pinned model README",
    "Adjacent upstream meshes and included XML definitions"
  ],
  "display": "Model XML often references adjacent meshes or other model XML. Viewer/rendering and MuJoCo/MJX version requirements are model-specific; this index does not fetch those assets or load a model.",
  "execution_domain": "simulation",
  "source_imports": []
}
```

## Invocation

```json
{
  "entrypoint": "Data/configuration artifact: agility_cassie/cassie.xml; use its upstream loader or package integration after inspection",
  "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.