{"id":13635590,"url":"https://github.com/UMich-BipedLab/Cassie_Model","last_synced_at":"2025-04-19T04:31:21.871Z","repository":{"id":69021434,"uuid":"104898986","full_name":"UMich-BipedLab/Cassie_Model","owner":"UMich-BipedLab","description":"Repo containing the urdf and frost based models of Cassie","archived":false,"fork":false,"pushed_at":"2019-05-30T17:51:57.000Z","size":71430,"stargazers_count":90,"open_issues_count":4,"forks_count":24,"subscribers_count":8,"default_branch":"master","last_synced_at":"2024-11-09T05:34:35.113Z","etag":null,"topics":["cassie","frost","urdf-models"],"latest_commit_sha":null,"homepage":null,"language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/UMich-BipedLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-09-26T14:56:24.000Z","updated_at":"2024-11-05T08:19:24.000Z","dependencies_parsed_at":"2023-04-12T15:06:09.571Z","dependency_job_id":null,"html_url":"https://github.com/UMich-BipedLab/Cassie_Model","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UMich-BipedLab%2FCassie_Model","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UMich-BipedLab%2FCassie_Model/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UMich-BipedLab%2FCassie_Model/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UMich-BipedLab%2FCassie_Model/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/UMich-BipedLab","download_url":"https://codeload.github.com/UMich-BipedLab/Cassie_Model/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":249606322,"owners_count":21298851,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cassie","frost","urdf-models"],"created_at":"2024-08-02T00:00:47.795Z","updated_at":"2025-04-19T04:31:18.960Z","avatar_url":"https://github.com/UMich-BipedLab.png","language":"MATLAB","funding_links":[],"categories":["Code"],"sub_categories":["Quadrupeds"],"readme":"# Cassie Model\nThis repository can be used to generate a model of the Cassie-series robot using [FROST](http://ayonga.github.io/frost-dev/).\n\n## Requirements\n* [MATLAB 2016b or later](https://www.mathworks.com/products/matlab.html)\n* [MATLAB supported compiler](https://www.mathworks.com/support/compilers.html) for generating MEX files\n* [Mathematica 11](https://www.wolfram.com/mathematica/)\n* [FROST](http://ayonga.github.io/frost-dev/)\n\n## Generating Cassie's kinematics and dynamics\n1. Open the `model_gen.m` script in MATLAB.\n2. Modify `FROST_PATH` to reflect your FROST installation directory.\n3. Generate the Cassie FROST model by runnning the first block of code, ending at line  \n   `cassie = Cassie('urdf/cassie.urdf')`.\n4. Run the rest of the script to generate and export various kinematic and dynamics functions.\n\n## Cassie coordinate system\n\n#### Base DOFs\n* `q(1)` - x\n* `q(2)` - y\n* `q(3)` - z\n* `q(4)` - yaw\n* `q(5)` - pitch\n* `q(6)` - roll\n\n#### Left side joints\n* `q(7)` - hip abduction\n* `q(8)` - hip rotation\n* `q(9)` - hip flexion\n* `q(10)` - knee joint\n* `q(11)` - knee spring (constrained to 0)\n* `q(12)` - ankle joint (constrained to q12 = deg2rad(13) - q10)\n* `q(13)` - toe joint\n\n#### Right side joints\n* `q(14)` - hip abduction\n* `q(15)` - hip rotation\n* `q(16)` - hip flexion\n* `q(17)` - knee joint\n* `q(18)` - knee spring (constrained to 0)\n* `q(19)` - ankle joint (constrained to q19 = deg2rad(13) - q17)\n* `q(20)` - toe joint\n\n\u003cp align=\"left\"\u003e\n  \u003cimg src=\"urdf/cassie_coordinates.png\" width=\"350\" title=\"Cassie's coordinates\"\u003e\n\u003c/p\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FUMich-BipedLab%2FCassie_Model","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FUMich-BipedLab%2FCassie_Model","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FUMich-BipedLab%2FCassie_Model/lists"}