This video shows you how to spawn cassie robot in gazebo fully actuated, ready for calibrating the PID and joints limits. This is an answer to the question in ROS ANSWERS: https://goo.gl/N9pcLA

Related resources:

• Here is the ROSject of the project, just click and the whole project will be copied to your ROSDS workspace
• Here is the code of this Answer:
  https://bitbucket.org/theconstructcore/cassie_biped/src/master/
  https://github.com/UMich-BipedLab/cassie_description
  https://bitbucket.org/theconstructcore/spawn_robot_tools/src/master/
• Here you have the link to RobotIgniteAcademy courses