From 424a955bb2d765d4eb21b82c4aa12f4991b8bd7e Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <12423606+proyan@users.noreply.github.com>
Date: Fri, 17 Sep 2021 11:52:16 +0200
Subject: [PATCH] Add cassie robot in example-robot-data (#100)

* [cassie_description] initial commit

* [cmake] update

* [cassie.sdf] change mesh path relative to example-robot-data

* [cassie_description] move meshes up folder

* [cassie-loader] create loadCassie function for load with sdf

* cassie srdf: standing pose

* [cassie_loader] use robotloader

* add unittest. won't yet work before pinocchio3

* Update unittest/test_load.py

Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>

* ci fixes: flake8 + unittest missing module

* fix test

Co-authored-by: Rohan Budhiraja <proyan@users.noreply.github.com>
Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>
---
 .gitignore                                    |    1 +
 cmake                                         |    2 +-
 python/example_robot_data/robots_loader.py    |   10 +
 .../meshes/achilles-rod.stl                   |  Bin 0 -> 130884 bytes
 .../cassie_description/meshes/foot-crank.stl  |  Bin 0 -> 39284 bytes
 robots/cassie_description/meshes/foot.stl     |  Bin 0 -> 86284 bytes
 .../cassie_description/meshes/heel-spring.stl |  Bin 0 -> 74684 bytes
 .../cassie_description/meshes/hip-pitch.stl   |  Bin 0 -> 245284 bytes
 robots/cassie_description/meshes/hip-roll.stl |  Bin 0 -> 152584 bytes
 robots/cassie_description/meshes/hip-yaw.stl  |  Bin 0 -> 290884 bytes
 .../cassie_description/meshes/knee-spring.stl |  Bin 0 -> 101184 bytes
 robots/cassie_description/meshes/knee.stl     |  Bin 0 -> 76184 bytes
 robots/cassie_description/meshes/pelvis.stl   |  Bin 0 -> 563384 bytes
 .../cassie_description/meshes/plantar-rod.stl |  Bin 0 -> 93984 bytes
 robots/cassie_description/meshes/shin.stl     |  Bin 0 -> 163084 bytes
 robots/cassie_description/meshes/tarsus.stl   |  Bin 0 -> 201984 bytes
 robots/cassie_description/robots/cassie.sdf   | 1607 +++++++++++++++++
 robots/cassie_description/robots/cassie.world |   34 +
 .../robots/cassie_reduced.sdf                 | 1017 +++++++++++
 .../robots/cassie_simple.sdf                  | 1015 +++++++++++
 .../cassie_description/robots/cassie_v2.sdf   | 1087 +++++++++++
 .../robots/cassie_wo_gearbox_spring.sdf       | 1037 +++++++++++
 robots/cassie_description/robots/model.config |    7 +
 robots/cassie_description/srdf/cassie_v2.srdf |   55 +
 unittest/test_load.py                         |    7 +
 25 files changed, 5878 insertions(+), 1 deletion(-)
 create mode 100644 robots/cassie_description/meshes/achilles-rod.stl
 create mode 100644 robots/cassie_description/meshes/foot-crank.stl
 create mode 100644 robots/cassie_description/meshes/foot.stl
 create mode 100644 robots/cassie_description/meshes/heel-spring.stl
 create mode 100644 robots/cassie_description/meshes/hip-pitch.stl
 create mode 100644 robots/cassie_description/meshes/hip-roll.stl
 create mode 100644 robots/cassie_description/meshes/hip-yaw.stl
 create mode 100644 robots/cassie_description/meshes/knee-spring.stl
 create mode 100644 robots/cassie_description/meshes/knee.stl
 create mode 100644 robots/cassie_description/meshes/pelvis.stl
 create mode 100644 robots/cassie_description/meshes/plantar-rod.stl
 create mode 100644 robots/cassie_description/meshes/shin.stl
 create mode 100644 robots/cassie_description/meshes/tarsus.stl
 create mode 100644 robots/cassie_description/robots/cassie.sdf
 create mode 100644 robots/cassie_description/robots/cassie.world
 create mode 100644 robots/cassie_description/robots/cassie_reduced.sdf
 create mode 100644 robots/cassie_description/robots/cassie_simple.sdf
 create mode 100644 robots/cassie_description/robots/cassie_v2.sdf
 create mode 100644 robots/cassie_description/robots/cassie_wo_gearbox_spring.sdf
 create mode 100644 robots/cassie_description/robots/model.config
 create mode 100644 robots/cassie_description/srdf/cassie_v2.srdf

diff --git a/.gitignore b/.gitignore
index 665fbe1..3f8dca3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 *.pyd
 *.pyo
 build*
+*~
\ No newline at end of file
diff --git a/cmake b/cmake
index 0948340..0adbf01 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 094834088ad9de32f1abdc2d56d29bca2190772c
+Subproject commit 0adbf0109cf2cb4b19db9b71cce37131c17b1597
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 350220f..6d85196 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -150,6 +150,15 @@ def loadANYmal(withArm=None):
     return loader().robot
 
 
+class CassieLoader(RobotLoader):
+    path = 'cassie_description'
+    sdf_filename = "cassie_v2.sdf"
+    sdf_subpath = 'robots'
+    srdf_filename = "cassie_v2.srdf"
+    ref_posture = "standing"
+    free_flyer = True
+
+
 class TalosLoader(RobotLoader):
     path = 'talos_data'
     urdf_filename = "talos_reduced.urdf"
@@ -517,6 +526,7 @@ ROBOTS = {
     'anymal': ANYmalLoader,
     'anymal_kinova': ANYmalKinovaLoader,
     'baxter': BaxterLoader,
+    'cassie': CassieLoader,
     'double_pendulum': DoublePendulumLoader,
     'hector': HectorLoader,
     'hyq': HyQLoader,
diff --git a/robots/cassie_description/meshes/achilles-rod.stl b/robots/cassie_description/meshes/achilles-rod.stl
new file mode 100644
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diff --git a/robots/cassie_description/meshes/foot-crank.stl b/robots/cassie_description/meshes/foot-crank.stl
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diff --git a/robots/cassie_description/meshes/knee-spring.stl b/robots/cassie_description/meshes/knee-spring.stl
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diff --git a/robots/cassie_description/meshes/knee.stl b/robots/cassie_description/meshes/knee.stl
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diff --git a/robots/cassie_description/meshes/plantar-rod.stl b/robots/cassie_description/meshes/plantar-rod.stl
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diff --git a/robots/cassie_description/robots/cassie.sdf b/robots/cassie_description/robots/cassie.sdf
new file mode 100644
index 0000000..68ec25b
--- /dev/null
+++ b/robots/cassie_description/robots/cassie.sdf
@@ -0,0 +1,1607 @@
+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<sdf version="1.6">
+  <model name="cassie">
+    <self_collide>1</self_collide>
+
+    <link name='pelvis'>
+      <pose>0 0 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0.05066 0.000346 0.02841 0 0 0</pose>
+        <mass>10.33</mass>
+        <inertia>
+          <ixx>0.085821</ixx>
+          <iyy>0.049222</iyy>
+          <izz>0.08626</izz>
+          <ixy>1.276e-05</ixy>
+          <ixz>-0.00016022</ixz>
+          <iyz>-0.000414</iyz>
+        </inertia>
+      </inertial>
+      <visual name="pelvis_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/pelvis.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="pelvis_collision">
+        <pose frame="">0.02 0 0.04 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.14</radius>
+          </sphere>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='left-hip-roll'>
+      <pose>0.021 0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>-6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-roll_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="left-roll-reference">
+      <pose frame="">0.021 0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose frame="">0.000001 0.000001 -0.027063 0 1.57 0</pose>
+        <mass>0.145608</mass>
+        <inertia>
+          <ixx>0.000073735</ixx>
+          <ixy>1.340232e-073</ixy>
+          <ixz>7.241957e-08</ixz>
+          <iyy>7.357073e-05</iyy>
+          <iyz>-7.096017e-08</iyz>
+          <izz>8.262566e-05</izz>
+        </inertia>
+      </inertial>
+      <visual name="left-roll-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-roll-ip" type="revolute">
+      <child>left-roll-reference</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-roll-op" type="revolute">
+      <child>left-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.2618</lower>
+          <upper>0.3491</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-roll-joint" type="gearbox">
+      <child>left-hip-roll</child>
+      <parent>left-roll-reference</parent>
+      <gearbox_reference_body>pelvis</gearbox_reference_body>
+      <gearbox_ratio>0.04</gearbox_ratio>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>1 0 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='left-hip-yaw'>
+      <pose>-0.049 0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 -1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>-4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>-2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="left-yaw-reference">
+      <pose frame="">-0.049 0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose frame="">0.000001 0.000001 -0.027063 0 1.57 0</pose>
+        <mass>0.145608</mass>
+        <inertia>
+          <ixx>7.368810e-05</ixx>
+          <ixy>1.340232e-073</ixy>
+          <ixz>7.241957e-08</ixz>
+          <iyy>7.357073e-05</iyy>
+          <iyz>-7.096017e-08</iyz>
+          <izz>0.000082672</izz>
+        </inertia>
+      </inertial>
+      <visual name="left-yaw-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-yaw-ip" type="revolute">
+      <child>left-yaw-reference</child>
+      <parent>left-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-yaw-op" type="revolute">
+      <child>left-hip-yaw</child>
+      <parent>left-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-yaw-joint" type="gearbox">
+      <child>left-hip-yaw</child>
+      <parent>left-yaw-reference</parent>
+      <gearbox_reference_body>left-hip-roll</gearbox_reference_body>
+      <gearbox_ratio>0.04</gearbox_ratio>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='left-hip-pitch'>
+      <pose>-0.049 0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 -0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>-5.721e-05</ixz>
+          <iyz>9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-hip-pitch_collision">
+        <pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="left-pitch-reference">
+      <pose frame="">-0.049 0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose frame="">-0.000001 -0.000011 0 1.57 1.57 0</pose>
+        <mass>0.272280</mass>
+            <inertia>
+          <ixx>2.288457e-04</ixx>
+          <ixy>6.854960e-07</ixy>
+          <ixz>-4.163281e-08</ixz>
+          <iyy>0.00023115</iyy>
+          <iyz>-9.248118e-07</iyz>
+          <izz>0.00020476</izz>
+        </inertia>
+      </inertial>
+      <visual name="left-pitch-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-pitch-ip" type="revolute">
+      <child>left-pitch-reference</child>
+      <parent>left-hip-yaw</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-pitch-op" type="revolute">
+      <child>left-hip-pitch</child>
+      <parent>left-hip-yaw</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-pitch-joint" type="gearbox">
+      <child>left-hip-pitch</child>
+      <parent>left-pitch-reference</parent>
+      <gearbox_reference_body>left-hip-yaw</gearbox_reference_body>
+      <gearbox_ratio>0.0625</gearbox_ratio>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='left-achilles-rod'>
+      <pose>-0.049 0.09 0.92 -1.7199 0.91441 3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>-1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-achilles_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-pitch-rod-joint" type="ball">
+      <child>left-achilles-rod</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-knee'>
+      <pose>-0.049 0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 -0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>-4.085e-05</ixz>
+          <iyz>-5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="left-knee-reference">
+      <pose frame="">-0.049 0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose frame="">-0.000001 -0.000011 0.024425 1.57 1.57 0</pose>
+        <mass>0.272280</mass>
+        <inertia>
+          <ixx>2.288457e-04</ixx>
+          <ixy>6.854960e-07</ixy>
+          <ixz>-4.163281e-08</ixz>
+          <iyy>0.00023115</iyy>
+          <iyz>-9.248118e-07</iyz>
+          <izz>0.00020476</izz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-knee-ip" type="revolute">
+      <parent>left-hip-pitch</parent>
+      <child>left-knee-reference</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-knee-op" type="revolute">
+      <child>left-knee</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-knee-joint" type="gearbox">
+      <child>left-knee</child>
+      <parent>left-knee-reference</parent>
+      <gearbox_reference_body>left-hip-pitch</gearbox_reference_body>
+      <gearbox_ratio>0.0625</gearbox_ratio>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='left-knee-spring'>
+      <pose>-0.033635 0.1305 0.69882 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.0836 0.0034 0 0 0 0</pose>
+        <mass>0.186</mass>
+        <inertia>
+          <ixx>5.215e-05</ixx>
+          <iyy>0.00041205</iyy>
+          <izz>0.0003669</izz>
+          <ixy>6.87e-06</ixy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee-spring_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-knee-spring-joint" type="revolute">
+      <child>left-knee-spring</child>
+      <parent>left-knee</parent>
+      <axis>
+        <xyz>0.000796 -1 1e-06</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-shin'>
+      <pose>-0.058383 0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>2.266e-05</ixz>
+          <iyz>-1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-shin_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-knee-shin-joint" type="revolute">
+      <child>left-shin</child>
+      <parent>left-knee</parent>
+      <axis>
+        <xyz>0.000796 -1 1e-06</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-tarsus'>
+      <pose>-0.35166 0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 -0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>-4.987e-05</ixz>
+          <iyz>-4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-tarsus_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-shin-tarsus-joint" type="revolute">
+      <child>left-tarsus</child>
+      <parent>left-shin</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-heel-spring'>
+      <pose>-0.38432 0.12958 0.40749 1.6878 -1.3734 -0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>-6e-07</ixz>
+          <iyz>1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-spring-joint" type="revolute">
+      <child>left-heel-spring</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-foot-crank'>
+      <pose>-0.37174 0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 -0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>-3.9623e-06</ixz>
+          <iyz>-1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name ="left-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-crank-joint" type="revolute">
+      <child>left-foot-crank</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-plantar-rod'>
+      <pose>-0.35937 0.11566 0.28425 1.5708 1.3639 0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>-8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-crank-rod-joint" type="revolute">
+      <child>left-plantar-rod</child>
+      <parent>left-foot-crank</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-foot'>
+      <pose>-0.29886 0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 -0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>1.36e-06</ixz>
+          <iyz>-4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-foot_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.005</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="left-foot-reference">
+      <pose frame="">-0.29886 0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose frame="">0.00474 0.02748 -0.00014 0 0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>9.4e-7</ixx>
+          <ixy>9.4e-9</ixy>
+          <ixz>9.4e-9</ixz>
+          <iyy>9.4e-7</iyy>
+          <iyz>9.4e-9</iyz>
+          <izz>9.4e-6</izz>
+        </inertia>
+      </inertial>
+      <visual name="left-foot-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-foot-ip" type="revolute">
+      <parent>left-tarsus</parent>
+      <child>left-foot-reference</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-foot-op" type="revolute">
+      <child>left-foot</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="left-foot-joint" type="gearbox">
+      <child>left-foot</child>
+      <parent>left-foot-reference</parent>
+      <gearbox_reference_body>left-tarsus</gearbox_reference_body>
+      <gearbox_ratio>0.02</gearbox_ratio>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='right-hip-roll'>
+      <pose>0.021 -0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 -0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>-3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 -1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="right-roll-reference">
+      <pose frame="">0.021 -0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose frame="">0.000001 0.000001 -0.027063 0 1.57 0</pose>
+        <mass>0.145608</mass>
+        <inertia>
+          <ixx>0.000073735</ixx>
+          <ixy>1.340232e-073</ixy>
+          <ixz>7.241957e-08</ixz>
+          <iyy>7.357073e-05</iyy>
+          <iyz>-7.096017e-08</iyz>
+          <izz>8.262566e-05</izz>
+        </inertia>
+      </inertial>
+      <visual name="right-roll-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-roll-ip" type="revolute">
+      <child>right-roll-reference</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-roll-op" type="revolute">
+      <child>right-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.3491</lower>
+          <upper>0.2618</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-roll-joint" type="gearbox">
+      <child>right-hip-roll</child>
+      <parent>right-roll-reference</parent>
+      <gearbox_reference_body>pelvis</gearbox_reference_body>
+      <gearbox_ratio>0.04</gearbox_ratio>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>1 0 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='right-hip-yaw'>
+      <pose>-0.049 -0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="right-yaw-reference">
+      <pose frame="">-0.049 -0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose frame="">0.000001 0.000001 -0.027063 0 1.57 0</pose>
+        <mass>0.145608</mass>
+        <inertia>
+          <ixx>7.368810e-05</ixx>
+          <ixy>1.340232e-073</ixy>
+          <ixz>7.241957e-08</ixz>
+          <iyy>7.357073e-05</iyy>
+          <iyz>-7.096017e-08</iyz>
+          <izz>0.000082672</izz>
+        </inertia>
+      </inertial>
+      <visual name="right-yaw-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-yaw-ip" type="revolute">
+      <child>right-yaw-reference</child>
+      <parent>right-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-yaw-op" type="revolute">
+      <child>right-hip-yaw</child>
+      <parent>right-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-yaw-joint" type="gearbox">
+      <child>right-hip-yaw</child>
+      <parent>right-yaw-reference</parent>
+      <gearbox_reference_body>right-hip-roll</gearbox_reference_body>
+      <gearbox_ratio>0.04</gearbox_ratio>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='right-hip-pitch'>
+      <pose>-0.049 -0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>5.721e-05</ixz>
+          <iyz>-9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-hip-pitch_collision">
+        <pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="right-pitch-reference">
+      <pose frame="">-0.049 -0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose frame="">-0.000001 -0.000011 0 1.57 1.57 0</pose>
+        <mass>0.272280</mass>
+        <inertia>
+          <ixx>2.288457e-04</ixx>
+          <ixy>6.854960e-07</ixy>
+          <ixz>-4.163281e-08</ixz>
+          <iyy>0.00023115</iyy>
+          <iyz>-9.248118e-07</iyz>
+          <izz>0.00020476</izz>
+        </inertia>
+      </inertial>
+      <visual name="right-pitch-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-pitch-ip" type="revolute">
+      <child>right-pitch-reference</child>
+      <parent>right-hip-yaw</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-pitch-op" type="revolute">
+      <child>right-hip-pitch</child>
+      <parent>right-hip-yaw</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-pitch-joint" type="gearbox">
+      <child>right-hip-pitch</child>
+      <parent>right-pitch-reference</parent>
+      <gearbox_reference_body>right-hip-yaw</gearbox_reference_body>
+      <gearbox_ratio>0.0625</gearbox_ratio>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='right-achilles-rod'>
+      <pose>-0.049 -0.09 0.92 -1.4217 0.91441 -3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-achilles-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-pitch-rod-joint" type="ball">
+      <child>right-achilles-rod</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-knee'>
+      <pose>-0.049 -0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>4.085e-05</ixz>
+          <iyz>5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="right-knee-reference">
+      <pose frame="">-0.049 -0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose frame="">-0.000001 -0.000011 -0.024425 1.57 1.57 0</pose>
+        <mass>0.272280</mass>
+        <inertia>
+          <ixx>2.288457e-04</ixx>
+          <ixy>6.854960e-07</ixy>
+          <ixz>-4.163281e-08</ixz>
+          <iyy>0.00023115</iyy>
+          <iyz>-9.248118e-07</iyz>
+          <izz>0.00020476</izz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-knee-ip" type="revolute">
+      <parent>right-hip-pitch</parent>
+      <child>right-knee-reference</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-knee-op" type="revolute">
+      <child>right-knee</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-knee-joint" type="gearbox">
+      <child>right-knee</child>
+      <parent>right-knee-reference</parent>
+      <gearbox_reference_body>right-hip-pitch</gearbox_reference_body>
+      <gearbox_ratio>0.0625</gearbox_ratio>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <link name='right-knee-spring'>
+      <pose>-0.033635 -0.1305 0.69882 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.0836 0.0034 0 0 0 0</pose>
+        <mass>0.186</mass>
+        <inertia>
+          <ixx>5.215e-05</ixx>
+          <iyy>0.00041205</iyy>
+          <izz>0.0003669</izz>
+          <ixy>6.87e-06</ixy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee-spring_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-knee-spring-joint" type="revolute">
+      <child>right-knee-spring</child>
+      <parent>right-knee</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+
+    <link name='right-shin'>
+      <pose>-0.058383 -0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 -0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>-2.266e-05</ixz>
+          <iyz>1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-shin_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-knee-shin-joint" type="revolute">
+      <child>right-shin</child>
+      <parent>right-knee</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-tarsus'>
+      <pose>-0.35166 -0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>4.987e-05</ixz>
+          <iyz>4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-tarsus_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-shin-tarsus-joint" type="revolute">
+      <child>right-tarsus</child>
+      <parent>right-shin</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-heel-spring'>
+      <pose>-0.38432 -0.12958 0.40749 1.4538 -1.3734 0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>6e-07</ixz>
+          <iyz>-1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-spring-joint" type="revolute">
+      <child>right-heel-spring</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-foot-crank'>
+      <pose>-0.37174 -0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>3.9623e-06</ixz>
+          <iyz>1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-crank-joint" type="revolute">
+      <child>right-foot-crank</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-plantar-rod'>
+      <pose>-0.35937 -0.11566 0.28425 1.5708 1.364 -0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-crank-rod-joint" type="revolute">
+      <child>right-plantar-rod</child>
+      <parent>right-foot-crank</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-foot'>
+      <pose>-0.29886 -0.1305 -0.0045361 1.5708 1.364 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>-1.36e-06</ixz>
+          <iyz>4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+        <contact>
+          <ode>
+            <min_depth>0.005</min_depth>
+          </ode>
+        </contact>
+      </surface>
+      </collision>
+    </link>
+
+    <link name="right-foot-reference">
+      <pose frame="">-0.29886 -0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose frame="">0.00474 0.02748 0.00014 0 0 0</pose>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>9.4e-7</ixx>
+          <ixy>9.4e-9</ixy>
+          <ixz>9.4e-9</ixz>
+          <iyy>9.4e-7</iyy>
+          <iyz>9.4e-9</iyz>
+          <izz>9.4e-6</izz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot-reference_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.01</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-foot-ip" type="revolute">
+      <parent>right-tarsus</parent>
+      <child>right-foot-reference</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-foot-op" type="revolute">
+      <child>right-foot</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-foot-joint" type="gearbox">
+      <child>right-foot</child>
+      <parent>right-foot-reference</parent>
+      <gearbox_reference_body>right-tarsus</gearbox_reference_body>
+      <gearbox_ratio>0.02</gearbox_ratio>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+      <axis2>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis2>
+    </joint>
+
+    <joint name="right-shin-spring-joint" type="prismatic">
+      <pose>0.13 0.005 0 0 0 0</pose>
+      <parent>right-shin</parent>
+      <child>right-knee-spring</child>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <joint name="right-achilles-spring-joint" type="revolute">
+      <pose>0.11877 -0.01 0 0 0 0</pose>
+      <parent>right-achilles-rod</parent>
+      <child>right-heel-spring</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="right-plantar-foot-joint" type="ball">
+      <pose>0.055 0 -0.008 0 0 0</pose>
+      <parent>right-plantar-rod</parent>
+      <child>right-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-shin-spring-joint" type="prismatic">
+      <pose>0.13 0.005 0 0 0 0</pose>
+      <parent>left-shin</parent>
+      <child>left-knee-spring</child>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <joint name="left-achilles-spring-joint" type="revolute">
+      <pose>0.11877 -0.01 0 0 0 0</pose>
+      <parent>left-achilles-rod</parent>
+      <child>left-heel-spring</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-plantar-foot-joint" type="ball">
+      <pose>0.055 0 0.008 0 0 0</pose>
+      <parent>left-plantar-rod</parent>
+      <child>left-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="static" type="prismatic">
+      <parent>world</parent>
+      <child>pelvis</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.2</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <!-- Attach the plugin to this model -->
+    <plugin filename="libcassie_plugin.so" name="CassiePlugin">
+    </plugin>
+
+</model>
+</sdf>
diff --git a/robots/cassie_description/robots/cassie.world b/robots/cassie_description/robots/cassie.world
new file mode 100644
index 0000000..1e76d09
--- /dev/null
+++ b/robots/cassie_description/robots/cassie.world
@@ -0,0 +1,34 @@
+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <physics type="ode">
+      <max_step_size>0.0005</max_step_size>
+      <real_time_update_rate>2000</real_time_update_rate>
+    </physics>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://cassie</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/robots/cassie_description/robots/cassie_reduced.sdf b/robots/cassie_description/robots/cassie_reduced.sdf
new file mode 100644
index 0000000..df75282
--- /dev/null
+++ b/robots/cassie_description/robots/cassie_reduced.sdf
@@ -0,0 +1,1017 @@
+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<sdf version="1.6">
+  <model name="cassie">
+    <self_collide>1</self_collide>
+
+    <link name='pelvis'>
+      <pose>0 0 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0.05066 0.000346 0.02841 0 0 0</pose>
+        <mass>10.33</mass>
+        <inertia>
+          <ixx>0.085821</ixx>
+          <iyy>0.049222</iyy>
+          <izz>0.08626</izz>
+          <ixy>1.276e-05</ixy>
+          <ixz>-0.00016022</ixz>
+          <iyz>-0.000414</iyz>
+        </inertia>
+      </inertial>
+      <visual name="pelvis_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/pelvis.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="pelvis_collision">
+        <pose frame="">0.02 0 0.04 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.14</radius>
+          </sphere>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='left-hip-roll'>
+      <pose>0.021 0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>-6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-roll_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-roll-op" type="revolute">
+      <child>left-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.2618</lower>
+          <upper>0.3491</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-hip-yaw'>
+      <pose>-0.049 0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 -1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>-4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>-2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-yaw-op" type="revolute">
+      <child>left-hip-yaw</child>
+      <parent>left-hip-roll</parent>
+      <axis>
+        <xyz>0 0 -1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-hip-pitch'>
+      <pose>-0.049 0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 -0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>-5.721e-05</ixz>
+          <iyz>9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-hip-pitch_collision">
+        <pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-pitch-op" type="revolute">
+      <child>left-hip-pitch</child>
+      <parent>left-hip-yaw</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-achilles-rod'>
+      <pose>-0.049 0.09 0.92 -1.7199 0.91441 3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>-1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-achilles_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-pitch-rod-joint" type="ball">
+      <pose> 0 0 0.045 -0.0545114 0.0726228 -0.652947</pose>
+      <parent>left-achilles-rod</parent>
+      <child>left-hip-pitch</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-knee'>
+      <pose>-0.049 0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 -0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>-4.085e-05</ixz>
+          <iyz>-5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-knee-op" type="revolute">
+      <child>left-knee</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-shin'>
+      <pose>-0.058383 0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>2.266e-05</ixz>
+          <iyz>-1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-shin_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-knee-shin-joint" type="revolute">
+      <child>left-shin</child>
+      <parent>left-knee</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-tarsus'>
+      <pose>-0.35166 0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 -0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>-4.987e-05</ixz>
+          <iyz>-4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-tarsus_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-shin-tarsus-joint" type="revolute">
+      <child>left-tarsus</child>
+      <parent>left-shin</parent>
+      <axis>
+        <xyz> 0 0 1</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-heel-spring'>
+      <pose>-0.38432 0.12958 0.40749 1.6878 -1.3734 -0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>-6e-07</ixz>
+          <iyz>1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-spring-joint" type="revolute">
+      <child>left-heel-spring</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-foot-crank'>
+      <pose>-0.37174 0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 -0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>-3.9623e-06</ixz>
+          <iyz>-1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name ="left-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-crank-joint" type="revolute">
+      <child>left-foot-crank</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-plantar-rod'>
+      <pose>-0.35937 0.11566 0.28425 1.5708 1.3639 0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>-8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-crank-rod-joint" type="revolute">
+      <child>left-plantar-rod</child>
+      <parent>left-foot-crank</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <link name='left-foot'>
+      <pose>-0.29886 0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 -0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>1.36e-06</ixz>
+          <iyz>-4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-foot_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.005</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="left-foot-op" type="revolute">
+      <child>left-foot</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-roll'>
+      <pose>0.021 -0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 -0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>-3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 -1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-roll-op" type="revolute">
+      <child>right-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3491</lower>
+          <upper>0.2618</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-yaw'>
+      <pose>-0.049 -0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-yaw-op" type="revolute">
+      <child>right-hip-yaw</child>
+      <parent>right-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-pitch'>
+      <pose>-0.049 -0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>5.721e-05</ixz>
+          <iyz>-9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-hip-pitch_collision">
+        <pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-pitch-op" type="revolute">
+      <child>right-hip-pitch</child>
+      <parent>right-hip-yaw</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-achilles-rod'>
+      <pose>-0.049 -0.09 0.92 -1.4217 0.91441 -3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-achilles-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-pitch-rod-joint" type="ball">
+      <pose>0 0 -0.045 0.0557801 -0.0716652 -0.653039</pose>
+      <parent>right-achilles-rod</parent>
+      <child>right-hip-pitch</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-knee'>
+      <pose>-0.049 -0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>4.085e-05</ixz>
+          <iyz>5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-knee-op" type="revolute">
+      <child>right-knee</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-shin'>
+      <pose>-0.058383 -0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 -0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>-2.266e-05</ixz>
+          <iyz>1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-shin_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-knee-shin-joint" type="revolute">
+      <child>right-shin</child>
+      <parent>right-knee</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-tarsus'>
+      <pose>-0.35166 -0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>4.987e-05</ixz>
+          <iyz>4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-tarsus_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-shin-tarsus-joint" type="revolute">
+      <child>right-tarsus</child>
+      <parent>right-shin</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-heel-spring'>
+      <pose>-0.38432 -0.12958 0.40749 1.4538 -1.3734 0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>6e-07</ixz>
+          <iyz>-1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-spring-joint" type="revolute">
+      <child>right-heel-spring</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-foot-crank'>
+      <pose>-0.37174 -0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>3.9623e-06</ixz>
+          <iyz>1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-crank-joint" type="revolute">
+      <child>right-foot-crank</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-plantar-rod'>
+      <pose>-0.35937 -0.11566 0.28425 1.5708 1.364 -0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-crank-rod-joint" type="revolute">
+      <child>right-plantar-rod</child>
+      <parent>right-foot-crank</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <link name='right-foot'>
+      <pose>-0.29886 -0.1305 -0.0045361 1.5708 1.364 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>-1.36e-06</ixz>
+          <iyz>4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+        <contact>
+          <ode>
+            <min_depth>0.005</min_depth>
+          </ode>
+        </contact>
+      </surface>
+      </collision>
+    </link>
+
+    <joint name="right-foot-op" type="revolute">
+      <child>right-foot</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <joint name="right-achilles-spring-joint" type="revolute">
+      <pose>0.501187 0.00132299 -0.00170135 0.0864423 -0.0521164 -2.68467</pose>
+      <parent>right-heel-spring</parent>
+      <child>right-achilles-rod</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="right-plantar-foot-joint" type="ball">
+      <pose>0.055 0 -0.008 0 0 0</pose>
+      <parent>right-plantar-rod</parent>
+      <child>right-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-achilles-spring-joint" type="revolute">
+      <pose>0.501187 0.00132298 0.00170128 -0.0864415 0.0521197 -2.68468</pose>
+      <parent>left-heel-spring</parent>
+      <child>left-achilles-rod</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-plantar-foot-joint" type="ball">
+      <pose>0.055 0 0.008 0 0 0</pose>
+      <parent>left-plantar-rod</parent>
+      <child>left-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="static" type="prismatic">
+      <parent>world</parent>
+      <child>pelvis</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.2</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <!-- Attach the plugin to this model -->
+    <plugin filename="libcassie_plugin.so" name="CassiePlugin">
+    </plugin>
+
+</model>
+</sdf>
diff --git a/robots/cassie_description/robots/cassie_simple.sdf b/robots/cassie_description/robots/cassie_simple.sdf
new file mode 100644
index 0000000..93e5dff
--- /dev/null
+++ b/robots/cassie_description/robots/cassie_simple.sdf
@@ -0,0 +1,1015 @@
+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<sdf version="1.6">
+  <model name="cassie">
+    <self_collide>1</self_collide>
+
+    <link name='pelvis'>
+      <pose>0 0 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0.05066 0.000346 0.02841 0 0 0</pose>
+        <mass>10.33</mass>
+        <inertia>
+          <ixx>0.085821</ixx>
+          <iyy>0.049222</iyy>
+          <izz>0.08626</izz>
+          <ixy>1.276e-05</ixy>
+          <ixz>-0.00016022</ixz>
+          <iyz>-0.000414</iyz>
+        </inertia>
+      </inertial>
+      <visual name="pelvis_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/pelvis.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="pelvis_collision">
+        <pose frame="">0.02 0 0.04 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.14</radius>
+          </sphere>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='left-hip-roll'>
+      <pose>0.021 0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>-6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-roll_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-roll-op" type="revolute">
+      <child>left-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.2618</lower>
+          <upper>0.3491</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-hip-yaw'>
+      <pose>-0.049 0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 -1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>-4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>-2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-yaw-op" type="revolute">
+      <child>left-hip-yaw</child>
+      <parent>left-hip-roll</parent>
+      <axis>
+        <xyz>0 0 -1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-hip-pitch'>
+      <pose>-0.049 0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 -0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>-5.721e-05</ixz>
+          <iyz>9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-hip-pitch_collision">
+        <pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-pitch-op" type="revolute">
+      <child>left-hip-pitch</child>
+      <parent>left-hip-yaw</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-achilles-rod'>
+      <pose>-0.049 0.09 0.92 -1.7199 0.91441 3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>-1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-achilles_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-pitch-rod-joint" type="ball">
+      <child>left-achilles-rod</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-knee'>
+      <pose>-0.049 0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 -0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>-4.085e-05</ixz>
+          <iyz>-5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-knee-op" type="revolute">
+      <child>left-knee</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-shin'>
+      <pose>-0.058383 0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>2.266e-05</ixz>
+          <iyz>-1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-shin_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-knee-shin-joint" type="revolute">
+      <child>left-shin</child>
+      <parent>left-knee</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-tarsus'>
+      <pose>-0.35166 0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 -0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>-4.987e-05</ixz>
+          <iyz>-4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-tarsus_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-shin-tarsus-joint" type="revolute">
+      <child>left-tarsus</child>
+      <parent>left-shin</parent>
+      <axis>
+        <xyz> 0 0 1</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-heel-spring'>
+      <pose>-0.38432 0.12958 0.40749 1.6878 -1.3734 -0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>-6e-07</ixz>
+          <iyz>1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-spring-joint" type="revolute">
+      <child>left-heel-spring</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-foot-crank'>
+      <pose>-0.37174 0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 -0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>-3.9623e-06</ixz>
+          <iyz>-1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name ="left-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-crank-joint" type="revolute">
+      <child>left-foot-crank</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 -1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-plantar-rod'>
+      <pose>-0.35937 0.11566 0.28425 1.5708 1.3639 0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>-8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-crank-rod-joint" type="revolute">
+      <child>left-plantar-rod</child>
+      <parent>left-foot-crank</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <link name='left-foot'>
+      <pose>-0.29886 0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 -0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>1.36e-06</ixz>
+          <iyz>-4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-foot_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.005</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="left-foot-op" type="revolute">
+      <child>left-foot</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-roll'>
+      <pose>0.021 -0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 -0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>-3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 -1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-roll-op" type="revolute">
+      <child>right-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3491</lower>
+          <upper>0.2618</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-yaw'>
+      <pose>-0.049 -0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-yaw-op" type="revolute">
+      <child>right-hip-yaw</child>
+      <parent>right-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-pitch'>
+      <pose>-0.049 -0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>5.721e-05</ixz>
+          <iyz>-9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-hip-pitch_collision">
+        <pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-pitch-op" type="revolute">
+      <child>right-hip-pitch</child>
+      <parent>right-hip-yaw</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-achilles-rod'>
+      <pose>-0.049 -0.09 0.92 -1.4217 0.91441 -3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-achilles-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-pitch-rod-joint" type="ball">
+      <child>right-achilles-rod</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-knee'>
+      <pose>-0.049 -0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>4.085e-05</ixz>
+          <iyz>5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-knee-op" type="revolute">
+      <child>right-knee</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-shin'>
+      <pose>-0.058383 -0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 -0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>-2.266e-05</ixz>
+          <iyz>1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-shin_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-knee-shin-joint" type="revolute">
+      <child>right-shin</child>
+      <parent>right-knee</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-tarsus'>
+      <pose>-0.35166 -0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>4.987e-05</ixz>
+          <iyz>4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-tarsus_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-shin-tarsus-joint" type="revolute">
+      <child>right-tarsus</child>
+      <parent>right-shin</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-heel-spring'>
+      <pose>-0.38432 -0.12958 0.40749 1.4538 -1.3734 0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>6e-07</ixz>
+          <iyz>-1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-spring-joint" type="revolute">
+      <child>right-heel-spring</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-foot-crank'>
+      <pose>-0.37174 -0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>3.9623e-06</ixz>
+          <iyz>1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-crank-joint" type="revolute">
+      <child>right-foot-crank</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-plantar-rod'>
+      <pose>-0.35937 -0.11566 0.28425 1.5708 1.364 -0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-crank-rod-joint" type="revolute">
+      <child>right-plantar-rod</child>
+      <parent>right-foot-crank</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <link name='right-foot'>
+      <pose>-0.29886 -0.1305 -0.0045361 1.5708 1.364 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>-1.36e-06</ixz>
+          <iyz>4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+        <contact>
+          <ode>
+            <min_depth>0.005</min_depth>
+          </ode>
+        </contact>
+      </surface>
+      </collision>
+    </link>
+
+    <joint name="right-foot-op" type="revolute">
+      <child>right-foot</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <joint name="right-achilles-spring-joint" type="revolute">
+      <pose>0.501187 0.00132299 -0.00170135 0.0864423 -0.0521164 -2.68467</pose>
+      <parent>right-heel-spring</parent>
+      <child>right-achilles-rod</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="right-plantar-foot-joint" type="ball">
+      <pose>0.055 0 -0.008 0 0 0</pose>
+      <parent>right-plantar-rod</parent>
+      <child>right-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-achilles-spring-joint" type="revolute">
+      <pose>0.501187 0.00132298 0.00170128 -0.0864415 0.0521197 -2.68468</pose>
+      <parent>left-heel-spring</parent>
+      <child>left-achilles-rod</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-plantar-foot-joint" type="ball">
+      <pose>0.055 0 0.008 0 0 0</pose>
+      <parent>left-plantar-rod</parent>
+      <child>left-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="static" type="prismatic">
+      <parent>world</parent>
+      <child>pelvis</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.2</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <!-- Attach the plugin to this model -->
+    <plugin filename="libcassie_plugin.so" name="CassiePlugin">
+    </plugin>
+
+</model>
+</sdf>
diff --git a/robots/cassie_description/robots/cassie_v2.sdf b/robots/cassie_description/robots/cassie_v2.sdf
new file mode 100644
index 0000000..79d17b7
--- /dev/null
+++ b/robots/cassie_description/robots/cassie_v2.sdf
@@ -0,0 +1,1087 @@
+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<sdf version="1.6">
+  <model name="cassie">
+    <self_collide>1</self_collide>
+
+    <link name='pelvis'>
+      <pose>0 0 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0.05066 0.000346 0.02841 0 0 0</pose>
+        <mass>10.33</mass>
+        <inertia>
+          <ixx>0.085821</ixx>
+          <iyy>0.049222</iyy>
+          <izz>0.08626</izz>
+          <ixy>1.276e-05</ixy>
+          <ixz>-0.00016022</ixz>
+          <iyz>-0.000414</iyz>
+        </inertia>
+      </inertial>
+      <visual name="pelvis_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/pelvis.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>
+      </visual>
+      <collision name="pelvis_collision">
+        <pose frame="">0.02 0 0.04 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.14</radius>
+          </sphere>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='left-hip-roll'>
+      <pose>0.021 0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>-6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-roll_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="left-roll-op" type="revolute">
+      <child>left-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.2618</lower>
+          <upper>0.3491</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-hip-yaw'>
+      <pose>-0.049 0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 -1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>-4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>-2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="left-yaw-op" type="revolute">
+      <child>left-hip-yaw</child>
+      <parent>left-hip-roll</parent>
+      <axis>
+        <xyz>0 0 -1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-hip-pitch'>
+      <pose>-0.049 0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 -0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>-5.721e-05</ixz>
+          <iyz>9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+      <collision name="left-hip-pitch_collision">
+        <pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-pitch-op" type="revolute">
+      <child>left-hip-pitch</child>
+      <parent>left-hip-yaw</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-achilles-rod'>
+      <pose>-0.049 0.09 0.92 -1.7199 0.91441 3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>-1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-achilles_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="left-pitch-rod-joint" type="ball">
+      <pose> 0 0 0.045 -0.0545114 0.0726228 -0.652947</pose>
+      <parent>left-achilles-rod</parent>
+      <child>left-hip-pitch</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-knee'>
+      <pose>-0.049 0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 -0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>-4.085e-05</ixz>
+          <iyz>-5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="left-knee-op" type="revolute">
+      <child>left-knee</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-shin'>
+      <pose>-0.058383 0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>2.266e-05</ixz>
+          <iyz>-1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-shin_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+      <collision name="left-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-knee-shin-joint" type="revolute">
+      <child>left-shin</child>
+      <parent>left-knee</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-tarsus'>
+      <pose>-0.35166 0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 -0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>-4.987e-05</ixz>
+          <iyz>-4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-tarsus_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+      <collision name="left-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-shin-tarsus-joint" type="revolute">
+      <child>left-tarsus</child>
+      <parent>left-shin</parent>
+      <axis>
+        <xyz> 0 0 1</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-heel-spring'>
+      <pose>-0.38432 0.12958 0.40749 1.6878 -1.3734 -0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>-6e-07</ixz>
+          <iyz>1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-spring-joint" type="revolute">
+      <child>left-heel-spring</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-foot-crank'>
+      <pose>-0.37174 0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 -0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>-3.9623e-06</ixz>
+          <iyz>-1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name ="left-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-crank-joint" type="revolute">
+      <child>left-foot-crank</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='left-plantar-rod'>
+      <pose>-0.35937 0.11566 0.28425 1.5708 1.3439 0.0</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>-8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="left-crank-rod-joint" type="revolute">
+      <child>left-plantar-rod</child>
+      <parent>left-foot-crank</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <link name='left-foot'>
+      <pose>-0.29886 0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 -0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>1.36e-06</ixz>
+          <iyz>-4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-foot_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+      <collision name="left-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.005</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="left-foot-op" type="revolute">
+      <child>left-foot</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-roll'>
+      <pose>0.021 -0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 -0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>-3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 -1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-roll-op" type="revolute">
+      <child>right-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3491</lower>
+          <upper>0.2618</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-yaw'>
+      <pose>-0.049 -0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-yaw-op" type="revolute">
+      <child>right-hip-yaw</child>
+      <parent>right-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-hip-pitch'>
+      <pose>-0.049 -0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>5.721e-05</ixz>
+          <iyz>-9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+      <collision name="right-hip-pitch_collision">
+        <pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-pitch-op" type="revolute">
+      <child>right-hip-pitch</child>
+      <parent>right-hip-yaw</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-achilles-rod'>
+      <pose>-0.049 -0.09 0.92 -1.4217 0.91441 -3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-achilles-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-pitch-rod-joint" type="ball">
+      <pose>0 0 -0.045 0.0557801 -0.0716652 -0.653039</pose>
+      <parent>right-achilles-rod</parent>
+      <child>right-hip-pitch</child>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-knee'>
+      <pose>-0.049 -0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>4.085e-05</ixz>
+          <iyz>5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-knee-op" type="revolute">
+      <child>right-knee</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-shin'>
+      <pose>-0.058383 -0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 -0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>-2.266e-05</ixz>
+          <iyz>1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-shin_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+      <collision name="right-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-knee-shin-joint" type="revolute">
+      <child>right-shin</child>
+      <parent>right-knee</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-tarsus'>
+      <pose>-0.35166 -0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>4.987e-05</ixz>
+          <iyz>4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-tarsus_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+      <collision name="right-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-shin-tarsus-joint" type="revolute">
+      <child>right-tarsus</child>
+      <parent>right-shin</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-heel-spring'>
+      <pose>-0.38432 -0.12958 0.40749 1.4538 -1.3734 0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>6e-07</ixz>
+          <iyz>-1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-spring-joint" type="revolute">
+      <child>right-heel-spring</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-foot-crank'>
+      <pose>-0.37174 -0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>3.9623e-06</ixz>
+          <iyz>1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.35 0.35 0.35 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-crank-joint" type="revolute">
+      <child>right-foot-crank</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='right-plantar-rod'>
+      <pose>-0.35937 -0.11566 0.28425 1.5708 1.364 0.0</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+    </link>
+
+    <joint name="right-crank-rod-joint" type="revolute">
+      <child>right-plantar-rod</child>
+      <parent>right-foot-crank</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <link name='right-foot'>
+      <pose>-0.29886 -0.1305 -0.0045361 1.5708 1.364 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>-1.36e-06</ixz>
+          <iyz>4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+            <ambient>0.75 0.75 0.75 1</ambient>
+        </material>        
+      </visual>
+      <collision name="right-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+        <contact>
+          <ode>
+            <min_depth>0.005</min_depth>
+          </ode>
+        </contact>
+      </surface>
+      </collision>
+    </link>
+
+    <joint name="right-foot-op" type="revolute">
+      <child>right-foot</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <joint name="right-achilles-spring-joint" type="revolute">
+      <pose>0.501187 0.00132299 -0.00170135 0.0864423 -0.0521164 -2.68467</pose>
+      <parent>right-heel-spring</parent>
+      <child>right-achilles-rod</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="right-plantar-foot-joint" type="ball">
+      <pose>0.055 0 -0.008 0 0 0</pose>
+      <parent>right-plantar-rod</parent>
+      <child>right-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-achilles-spring-joint" type="revolute">
+      <pose>0.501187 0.00132298 0.00170128 -0.0864415 0.0521197 -2.68468</pose>
+      <parent>left-heel-spring</parent>
+      <child>left-achilles-rod</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-plantar-foot-joint" type="ball">
+      <pose>0.055 0 0.008 0 0 0</pose>
+      <parent>left-plantar-rod</parent>
+      <child>left-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="static" type="prismatic">
+      <parent>world</parent>
+      <child>pelvis</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.2</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <!-- Attach the plugin to this model -->
+    <plugin filename="libcassie_plugin.so" name="CassiePlugin">
+    </plugin>
+
+</model>
+</sdf>
diff --git a/robots/cassie_description/robots/cassie_wo_gearbox_spring.sdf b/robots/cassie_description/robots/cassie_wo_gearbox_spring.sdf
new file mode 100644
index 0000000..1d76428
--- /dev/null
+++ b/robots/cassie_description/robots/cassie_wo_gearbox_spring.sdf
@@ -0,0 +1,1037 @@
+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<sdf version="1.6">
+  <model name="cassie">
+    <self_collide>1</self_collide>
+
+    <link name='pelvis'>
+      <pose>0 0 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0.05066 0.000346 0.02841 0 0 0</pose>
+        <mass>10.33</mass>
+        <inertia>
+          <ixx>0.085821</ixx>
+          <iyy>0.049222</iyy>
+          <izz>0.08626</izz>
+          <ixy>1.276e-05</ixy>
+          <ixz>-0.00016022</ixz>
+          <iyz>-0.000414</iyz>
+        </inertia>
+      </inertial>
+      <visual name="pelvis_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/pelvis.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="pelvis_collision">
+        <pose frame="">0.02 0 0.04 0 0 0</pose>
+        <geometry>
+          <sphere>
+            <radius>0.14</radius>
+          </sphere>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name='left-hip-roll'>
+      <pose>0.021 0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>-6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-roll_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-roll-op" type="revolute">
+      <child>left-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.2618</lower>
+          <upper>0.3491</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-hip-yaw'>
+      <pose>-0.049 0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 -1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>-4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>-2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-yaw-op" type="revolute">
+      <child>left-hip-yaw</child>
+      <parent>left-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-hip-pitch'>
+      <pose>-0.049 0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 -0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>-5.721e-05</ixz>
+          <iyz>9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-hip-pitch_collision">
+        <pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-pitch-op" type="revolute">
+      <child>left-hip-pitch</child>
+      <parent>left-hip-yaw</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-achilles-rod'>
+      <pose>-0.049 0.09 0.92 -1.7199 0.91441 3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>-1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-achilles_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-pitch-rod-joint" type="ball">
+      <child>left-achilles-rod</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-knee'>
+      <pose>-0.049 0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 -0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>-4.085e-05</ixz>
+          <iyz>-5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-knee_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-knee-op" type="revolute">
+      <child>left-knee</child>
+      <parent>left-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-shin'>
+      <pose>-0.058383 0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>2.266e-05</ixz>
+          <iyz>-1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-shin_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-knee-shin-joint" type="revolute">
+      <child>left-shin</child>
+      <parent>left-knee</parent>
+      <axis>
+        <xyz>0.000796 -1 1e-06</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-tarsus'>
+      <pose>-0.35166 0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 -0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>-4.987e-05</ixz>
+          <iyz>-4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-tarsus_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="left-shin-tarsus-joint" type="revolute">
+      <child>left-tarsus</child>
+      <parent>left-shin</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-heel-spring'>
+      <pose>-0.38432 0.12958 0.40749 1.6878 -1.3734 -0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>-6e-07</ixz>
+          <iyz>1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-spring-joint" type="revolute">
+      <child>left-heel-spring</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-foot-crank'>
+      <pose>-0.37174 0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 -0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>-3.9623e-06</ixz>
+          <iyz>-1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name ="left-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-tarsus-crank-joint" type="revolute">
+      <child>left-foot-crank</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-plantar-rod'>
+      <pose>-0.35937 0.11566 0.28425 1.5708 1.3639 0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>-8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="left-crank-rod-joint" type="revolute">
+      <child>left-plantar-rod</child>
+      <parent>left-foot-crank</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='left-foot'>
+      <pose>-0.29886 0.1305 -0.0045361 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 -0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>1.36e-06</ixz>
+          <iyz>-4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="left-foot_visual">
+        <geometry>
+          <mesh>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="left-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <min_depth>0.005</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="left-foot-op" type="revolute">
+      <child>left-foot</child>
+      <parent>left-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-hip-roll'>
+      <pose>0.021 -0.135 1.01 0 1.5708 0</pose>
+      <inertial>
+        <pose>-0.01793 -0.0001 -0.04428 0 0 0</pose>
+        <mass>1.82</mass>
+        <inertia>
+          <ixx>0.003431</ixx>
+          <iyy>0.003793</iyy>
+          <izz>0.002135</izz>
+          <ixy>6.65e-07</ixy>
+          <ixz>-0.00084</ixz>
+          <iyz>-3.99e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 -1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-roll.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-roll-op" type="revolute">
+      <child>right-hip-roll</child>
+      <parent>pelvis</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.3491</lower>
+          <upper>0.2618</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-hip-yaw'>
+      <pose>-0.049 -0.135 1.01 0 0 0</pose>
+      <inertial>
+        <pose>0 1e-05 -0.034277 0 0 0</pose>
+        <mass>1.171</mass>
+        <inertia>
+          <ixx>0.002443</ixx>
+          <iyy>0.002803</iyy>
+          <izz>0.000842</izz>
+          <ixy>4e-08</ixy>
+          <ixz>2.462e-07</ixz>
+          <iyz>2.71e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-yaw_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-yaw.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-yaw-op" type="revolute">
+      <child>right-hip-yaw</child>
+      <parent>right-hip-roll</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.3840</lower>
+          <upper>0.3840</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-hip-pitch'>
+      <pose>-0.049 -0.135 0.92 0 1.5708 -1.57</pose>
+      <inertial>
+        <pose>0.05946 5e-05 0.03581 0 0 0</pose>
+        <mass>5.52</mass>
+        <inertia>
+          <ixx>0.010898</ixx>
+          <iyy>0.029714</iyy>
+          <izz>0.030257</izz>
+          <ixy>-0.0002669</ixy>
+          <ixz>5.721e-05</ixz>
+          <iyz>-9.17e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-hip-pitch_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/hip-pitch.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-hip-pitch_collision">
+        <pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.06</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-pitch-op" type="revolute">
+      <child>right-hip-pitch</child>
+      <parent>right-hip-yaw</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.8727</lower>
+          <upper>1.3963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-achilles-rod'>
+      <pose>-0.049 -0.09 0.92 -1.4217 0.91441 -3.0232</pose>
+      <inertial>
+        <pose>0.24719 0 0 0 0 0</pose>
+        <mass>0.1567</mass>
+        <inertia>
+          <ixx>3.754e-06</ixx>
+          <iyy>0.004487</iyy>
+          <izz>0.004488</izz>
+          <ixy>-3.74e-08</ixy>
+          <ixz>1.61e-08</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-achilles-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/achilles-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-pitch-rod-joint" type="ball">
+      <child>right-achilles-rod</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <damping>0.01</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-knee'>
+      <pose>-0.049 -0.1305 0.8 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.023 0.03207 0.002181 0 0 0</pose>
+        <mass>0.7578</mass>
+        <inertia>
+          <ixx>0.001376</ixx>
+          <iyy>0.0010335</iyy>
+          <izz>0.0021637</izz>
+          <ixy>-0.00039744</ixy>
+          <ixz>4.085e-05</ixz>
+          <iyz>5.374e-05</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-knee_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/knee.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-knee-op" type="revolute">
+      <child>right-knee</child>
+      <parent>right-hip-pitch</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.07694</lower>
+          <upper>0.13963</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-shin'>
+      <pose>-0.058383 -0.1305 0.72357 -1.5708 0.7854 3.1416</pose>
+      <inertial>
+        <pose>0.18338 0.001169 -0.0002123 0 0 0</pose>
+        <mass>0.577</mass>
+        <inertia>
+          <ixx>0.00035939</ixx>
+          <iyy>0.014728</iyy>
+          <izz>0.014707</izz>
+          <ixy>-0.00020981</ixy>
+          <ixz>-2.266e-05</ixz>
+          <iyz>1.2e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-shin_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/shin.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-shin_collision">
+        <pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.44</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-knee-shin-joint" type="revolute">
+      <child>right-shin</child>
+      <parent>right-knee</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.34907</lower>
+          <upper>0.34907</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1500</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-tarsus'>
+      <pose>-0.35166 -0.1305 0.402 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.11046 -0.03058 0.00131 0 0 0</pose>
+        <mass>0.782</mass>
+        <inertia>
+          <ixx>0.00039238</ixx>
+          <iyy>0.013595</iyy>
+          <izz>0.013674</izz>
+          <ixy>0.00023651</ixy>
+          <ixz>4.987e-05</ixz>
+          <iyz>4.82e-06</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-tarsus_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/tarsus.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-tarsus_collision">
+        <pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.38</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="right-shin-tarsus-joint" type="revolute">
+      <child>right-tarsus</child>
+      <parent>right-shin</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-0.13963</lower>
+          <upper>1.95477</upper>
+        </limit>
+        <dynamics>
+          <damping>0.1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-heel-spring'>
+      <pose>-0.38432 -0.12958 0.40749 1.4538 -1.3734 0.18949</pose>
+      <inertial>
+        <pose>0.081 0.0022 0 0 0 0</pose>
+        <mass>0.126</mass>
+        <inertia>
+          <ixx>2.959e-05</ixx>
+          <iyy>0.00022231</iyy>
+          <izz>0.0002007</izz>
+          <ixy>7.15e-06</ixy>
+          <ixz>6e-07</ixz>
+          <iyz>-1e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-heel-spring_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/heel-spring.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-spring-joint" type="revolute">
+      <child>right-heel-spring</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>1250</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-foot-crank'>
+      <pose>-0.37174 -0.10775 0.33784 1.5708 1.3439 0</pose>
+      <inertial>
+        <pose>0.00493 2e-05 0.00215 0 0 0</pose>
+        <mass>0.1261</mass>
+        <inertia>
+          <ixx>2.6941e-05</ixx>
+          <iyy>4.9621e-05</iyy>
+          <izz>6.3362e-05</izz>
+          <ixy>-2.1e-09</ixy>
+          <ixz>3.9623e-06</ixz>
+          <iyz>1.09e-08</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot-crank_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot-crank.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-tarsus-crank-joint" type="revolute">
+      <child>right-foot-crank</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-plantar-rod'>
+      <pose>-0.35937 -0.11566 0.28425 1.5708 1.364 -0.1</pose>
+      <inertial>
+        <pose>0.17792 0 0 0 0 0</pose>
+        <mass>0.1186</mass>
+        <inertia>
+          <ixx>2.779e-06</ixx>
+          <iyy>0.001774</iyy>
+          <izz>0.001775</izz>
+          <ixy>-2.34e-08</ixy>
+          <ixz>8.1e-09</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-plantar-rod_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/plantar-rod.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name="right-crank-rod-joint" type="revolute">
+      <child>right-plantar-rod</child>
+      <parent>right-foot-crank</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <link name='right-foot'>
+      <pose>-0.29886 -0.1305 -0.0045361 1.5708 1.364 0</pose>
+      <inertial>
+        <pose>0.00474 0.02748 0.00014 0 0 0</pose>
+        <mass>0.1498</mass>
+        <inertia>
+          <ixx>0.00017388</ixx>
+          <iyy>0.00016793</iyy>
+          <izz>0.00033261</izz>
+          <ixy>0.00011814</ixy>
+          <ixz>-1.36e-06</ixz>
+          <iyz>4e-07</iyz>
+        </inertia>
+      </inertial>
+      <visual name="right-foot_visual">
+        <geometry>
+          <mesh>
+            <scale>1 1 -1</scale>
+            <uri>model://example-robot-data/robots/cassie_description/meshes/foot.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="right-foot_collision">
+        <pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
+        <geometry>
+          <cylinder>
+            <length>0.18</length>
+            <radius>0.0168</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+        <contact>
+          <ode>
+            <min_depth>0.005</min_depth>
+          </ode>
+        </contact>
+      </surface>
+      </collision>
+    </link>
+
+    <joint name="right-foot-op" type="revolute">
+      <child>right-foot</child>
+      <parent>right-tarsus</parent>
+      <axis>
+        <xyz>0 -1 0</xyz>
+        <limit>
+          <lower>-2.4435</lower>
+          <upper>-0.6109</upper>
+        </limit>
+        <dynamics>
+          <damping>1</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <joint name="right-achilles-spring-joint" type="revolute">
+      <pose>0.11877 -0.01 0 0 0 0</pose>
+      <parent>right-achilles-rod</parent>
+      <child>right-heel-spring</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="right-plantar-foot-joint" type="ball">
+      <pose>0.055 0 -0.008 0 0 0</pose>
+      <parent>right-plantar-rod</parent>
+      <child>right-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-achilles-spring-joint" type="revolute">
+      <pose>0.11877 -0.01 0 0 0 0</pose>
+      <parent>left-achilles-rod</parent>
+      <child>left-heel-spring</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="left-plantar-foot-joint" type="ball">
+      <pose>0.055 0 0.008 0 0 0</pose>
+      <parent>left-plantar-rod</parent>
+      <child>left-foot</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="static" type="prismatic">
+      <parent>world</parent>
+      <child>pelvis</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0.2</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <!-- Attach the plugin to this model -->
+    <plugin filename="libcassie_plugin.so" name="CassiePlugin">
+    </plugin>
+
+</model>
+</sdf>
diff --git a/robots/cassie_description/robots/model.config b/robots/cassie_description/robots/model.config
new file mode 100644
index 0000000..ee0c870
--- /dev/null
+++ b/robots/cassie_description/robots/model.config
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Cassie</name>
+  <version>1.0</version>
+  <sdf version="1.5">cassie.sdf</sdf>
+</model>
diff --git a/robots/cassie_description/srdf/cassie_v2.srdf b/robots/cassie_description/srdf/cassie_v2.srdf
new file mode 100644
index 0000000..6bfd151
--- /dev/null
+++ b/robots/cassie_description/srdf/cassie_v2.srdf
@@ -0,0 +1,55 @@
+<?xml version="1.0" ?>
+<robot name="cassie">
+
+  <group name="whole_body">
+    <joint name="root_joint" />
+    <joint name="left-roll-op" />
+    <joint name="left-yaw-op" />
+    <joint name="left-pitch-op" />
+    <joint name="left-knee-op" />
+    <joint name="left-knee-shin-joint" />
+    <joint name="left-shin-tarsus-joint" />
+    <joint name="left-tarsus-spring-joint" />
+    <joint name="left-achilles-spring-joint" />
+    <joint name="left-tarsus-crank-joint" />
+    <joint name="left-crank-rod-joint1" />
+    <joint name="left-foot-op" />
+    <joint name="right-roll-op" />
+    <joint name="right-yaw-op" />         
+    <joint name="right-pitch-op" />     
+    <joint name="right-knee-op" /> 
+    <joint name="right-knee-shin-joint" />
+    <joint name="right-shin-tarsus-joint" />
+    <joint name="right-tarsus-spring-joint" />
+    <joint name="right-achilles-spring-joint" />
+    <joint name="right-tarsus-crank-joint" />
+    <joint name="right-crank-rod-joint" />
+    <joint name="right-foot-op" />
+  </group>
+
+  <group_state name="standing" group="whole_body">
+    <joint name="root_joint"                 value="-8.84376603e-04  2.01947521e-05  1.03234704e+00  3.76613677e-04 8.54066138e-02 -1.18694658e-05  9.96346109e-01" />
+    <joint name="left-roll-op"               value="-1.04031254e-03" />
+    <joint name="left-yaw-op"                value="1.68090673e-04" />
+    <joint name="left-pitch-op"              value="7.41104603e-01" />
+    <joint name="left-knee-op"               value="-2.71448998e-02" />
+    <joint name="left-knee-shin-joint"       value="-3.90872643e-01" />
+    <joint name="left-shin-tarsus-joint"     value="2.09080249e-01" />
+    <joint name="left-tarsus-spring-joint"   value="4.68025202e-01" />
+    <joint name="left-achilles-spring-joint" value="-6.79067787e-01" />
+    <joint name="left-tarsus-crank-joint"    value="-1.46111523e+00" />
+    <joint name="left-crank-rod-joint"       value="1.46110617e+00" />
+    <joint name="left-foot-op"               value="-1.46114565e+00" />
+    <joint name="right-roll-op"              value="-1.04086943e-03" />
+    <joint name="right-yaw-op"               value="-1.69133207e-04" />         
+    <joint name="right-pitch-op"             value="7.42278082e-01" />     
+    <joint name="right-knee-op"              value="-2.83885130e-02" /> 
+    <joint name="right-knee-shin-joint"      value="-3.91207267e-01" />
+    <joint name="right-shin-tarsus-joint"    value="2.09642093e-01" />
+    <joint name="right-tarsus-spring-joint"  value="4.69313644e-01" />
+    <joint name="right-achilles-spring-joint"value="-6.80943430e-01" />
+    <joint name="right-tarsus-crank-joint"   value="-1.48154922e+00" />
+    <joint name="right-crank-rod-joint"      value="1.48470113e+00" />
+    <joint name="right-foot-op"              value="-1.46130274e+00" />
+  </group_state>
+</robot>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 23a0ced..e76b00c 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -43,6 +43,13 @@ class RobotTestCase(unittest.TestCase):
     def test_baxter(self):
         self.check('baxter', 19, 19)
 
+    def test_cassie(self):
+        try:
+            self.check('cassie', 29, 28)
+        except ImportError:
+            import pinocchio
+            self.assertLess(int(pinocchio.__version__.split('.')[0]), 3)
+
     def test_double_pendulum(self):
         self.check('double_pendulum', 2, 2)
 
-- 
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