Update Cassie URDF description to an MIT-licensed repository

Author: stephane-caron

CHANGELOG.md

@@ -15,6 +15,7 @@ All notable changes to this project will be documented in this file.
 ### Changed
 
 - MuJoCo examples: try ``mj_description`` suffix rather than ``description``
+- Update Cassie URDF description to an MIT-licensed repository
 
 ### Fixed
 

robot_descriptions/_repositories.py

@@ -67,9 +67,9 @@ class Repository:
         cache_path="bullet3",
     ),
     "cassie_description": Repository(
-        url="https://github.com/UMich-BipedLab/cassie_description.git",
-        commit="96323f3d0cc2cb7101cb92d7fcf4650abdcb2e81",
-        cache_path="BipedLab/cassie_description",
+        url="https://github.com/robot-descriptions/cassie_description",
+        commit="81a2d8bbd77201cc974afb127adda4e2857a6dbf",
+        cache_path="cassie_description",
     ),
     "cassie_mj_description": Repository(
         url="https://github.com/rohanpsingh/cassie_mj_description.git",

robot_descriptions/cassie_description.py

@@ -27,4 +27,4 @@
 
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
 
-URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "cassie.urdf")
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "cassie_v4.urdf")