Robotic Systems Lab - Legged Robotics at ETH Zürich
The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.
Zürich
Pinned Repositories
darknet_ros
YOLO ROS: Real-Time Object Detection for ROS
elevation_mapping_cupy
Elevation Mapping on GPU.
legged_gym
Isaac Gym Environments for Legged Robots
ocs2
Optimal Control for Switched Systems
open3d_slam
Pointcloud-based graph SLAM written in C++ using open3D library.
radiance_field_ros
Implementation of Radiance Fields for Robotic Teleoperation
ros_best_practices
Best practices, conventions, and tricks for ROS
rsl_rl
A fast and simple implementation of RL algorithms, designed to run fully on GPU.
se2_navigation
Pure Pursuit Control and SE(2) Planning
viplanner
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Robotic Systems Lab - Legged Robotics at ETH Zürich's Repositories
leggedrobotics/ocs2
Optimal Control for Switched Systems
leggedrobotics/graph_msf
A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.
leggedrobotics/art_planner
Local Navigation Planner for Legged Robots
leggedrobotics/elmo_ethercat_sdk
leggedrobotics/rayen
Imposition of Hard Convex Constraints on Neural Networks
leggedrobotics/workflows
Collection of workflows, best-practices and guidelines for software development.
leggedrobotics/grid_map
Universal grid map library for mobile robotic mapping
leggedrobotics/ethercat_sdk_master
A wrapper around SOEM to allow multiple masters and devices on EtherCAT
leggedrobotics/terra-baselines
Train, visualize, and evaluate RL policies for the Terra environment.
leggedrobotics/ethercat_device_configurator
Manages setup yaml files for the RSL ethercat infrastructure
leggedrobotics/learning_docker
leggedrobotics/voxblox
A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
leggedrobotics/plr-exercise
leggedrobotics/digbench
Benchmarks and map generation for the Terra environment.
leggedrobotics/realsense-ros-rsl
Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module
leggedrobotics/nimbro_network
ROS network stack: Topic/service transport over unreliable network connections
leggedrobotics/ros_comm
ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
leggedrobotics/mesh_tools
leggedrobotics/gtsam_fork
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
leggedrobotics/HesaiLidar_General_ROS
ROS driver for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B
leggedrobotics/parameter_handler
leggedrobotics/ros_numpy
Tools for converting ROS messages to and from numpy arrays
leggedrobotics/gflags_catkin
leggedrobotics/glog_catkin
leggedrobotics/isaac_ros_compression
Hardware-accelerated data compression
leggedrobotics/Livox-SDK2
Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.
leggedrobotics/procman_ros
ROS-based management of processes distributed over multiple computers
leggedrobotics/rslidar_sdk
RoboSense LiDAR SDK for ROS & ROS2
leggedrobotics/time_stamper
Camera calibration tool
leggedrobotics/wide_angle_wristcam