/cassie_description

UDRF model of CASSIE robot

Primary LanguageCMake

cassie_description

This repository contains the .urdf model of the CASSIE robot from Agility Robotics. It also includes a a way to visualize the robot using ROS and rviz.

Installation to view .urdf using rviz

mkdir ~/catkin_ws
cd ~/catkin_ws
mkdir src
cd src
catkin_init_workspace
  • Clone the repository to get the cassie_description package
git clone https://github.com/UMich-BipedLab/cassie_description.git
  • Build the package
cd ../
catkin_make
source devel/setup.bash
  • Launch rviz to visualize the .urdf file
roslaunch cassie_description display.launch