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/ros_control_boilerplate
Provides a simple simulation interface and template for setting up a hardware interface for ros_control
leggedrobotics/cerberus_anymal_locomotion
leggedrobotics/subt_cerberus_anymal
This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
leggedrobotics/rl-blindloco
Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"
leggedrobotics/cuda_ue4_linux
leggedrobotics/pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
leggedrobotics/RaiSimUnity
A visualizer for RaiSim based on Unity
leggedrobotics/raisimOgre
https://rsl.ethz.ch/partnership/spinoff/raisim.html
leggedrobotics/raisimLib
RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH
leggedrobotics/robot_markers
Generates markers for a robot given a URDF.
leggedrobotics/transform_graph
Library for computing transformations in arbitrary graph structures.
leggedrobotics/anymal_c_simple_description
Simplified robot description of the ANYmal C quadrupedal robot.
leggedrobotics/learning_quadrupedal_locomotion_over_challenging_terrain_supplementary
Supplementary materials for "Learning Locomotion over Challenging Terrain"
leggedrobotics/image_pipeline
An image processing pipeline for ROS.
leggedrobotics/raisimGym
leggedrobotics/ogre
An adaption of Ogre to work with RaisimOgre
leggedrobotics/urdf2robcogen
A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.
leggedrobotics/depth_segmentation
A collection of segmentation methods working on depth images
leggedrobotics/xpp-release
Release repository of the xpp repo, necessary for ros hosting.
leggedrobotics/teb_local_planner
An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
leggedrobotics/vitruvio
Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.
leggedrobotics/jenkins-backup-script
archive jenkins setting and plugins
leggedrobotics/rosmon
ROS node launcher & monitoring daemon
leggedrobotics/mpeg-pcc-tmc13
Geometry based point cloud compression (G-PCC) test model
leggedrobotics/cpr_catkin
A catkin wrapper for C++ Request http://whoshuu.github.io/cpr/
leggedrobotics/eigenpy
Bindings between Numpy and Eigen using Boost.Python
leggedrobotics/CppADCodeGen
Source Code Generation for Automatic Differentiation using Operator Overloading
leggedrobotics/CppAD
A C++ Algorithmic Differentiation Package: Home Page
leggedrobotics/osqp
The Operator Splitting QP Solver
leggedrobotics/qdldl
A free LDL factorisation routine