A simulation library for Agility Robotics' Cassie robot using Gazebo. Developed and tested on Ubuntu 16.04 with Gazebo 9.
Building the code:
- Download and install Gazebo 9 - http://gazebosim.org/tutorials?tut=install_ubuntu
- Clone this repository
- Make a build directory
Note: The Gazebo plugin and model path needs to be updated to load the meshes and plugins - http://gazebosim.org/tutorials?tut=components
Running the sim:
The robot should be spawned in Gazebo
Connecting to the sim with a demo UDP based controller:
The controller should be connected to the simulator.
The examples include cassiectrl, a null controller operating over UDP.