Gazebo simulator for the Agility Robotics Cassie robot
Clone or download
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
cassie Added Cassie Gazebo Sim Jun 20, 2018
plugin Added Cassie Gazebo Sim Jun 20, 2018
README.md Added Cassie Gazebo Sim Jun 20, 2018

README.md

agility-cassie-gazebo-simulator

A simulation library for Agility Robotics' Cassie robot using Gazebo. Developed and tested on Ubuntu 16.04 with Gazebo 9.

Instructions:

Building the code:

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:

  • cd ~/path-to-repo/cassie
  • gazebo cassie.world

The robot should be spawned in Gazebo

Connecting to the sim with a demo UDP based controller:

  • cd ~/path-to-repo/your-build-folder
  • ./cassiectrl

The controller should be connected to the simulator.

The examples include cassiectrl, a null controller operating over UDP.