Robotic Systems Lab - Legged Robotics at ETH Zürich

legged_gym

Isaac Gym Environments for Legged Robots

elevation_mapping_cupy

Elevation Mapping on GPU.

open3d_slam

Pointcloud-based graph SLAM written in C++ using open3D library.

rsl_rl

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

viplanner

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

terrain-generator

wild_visual_navigation

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

elmo_ethercat_sdk

smug_planner

raw_image_pipeline

Image processing pipeline for cameras that provide RAW data

ethercat_device_configurator

Manages setup yaml files for the RSL ethercat infrastructure

terra

A grid world environment for high-level earthworks planning in JAX for RL.

self_supervised_segmentation

terra-baselines

Train, visualize, and evaluate RL policies for the Terra environment.

digbench

Benchmarks and map generation for the Terra environment.

livox_ros_driver2

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.

pretrained_depth_embedders

rsl_panoptic

rsl_panoptic_mapping

.github

GitHub meta repository

FoundationPose

RSL fork of "FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects"

hdr_camera_driver

Forked from https://gitlab.com/boldhearts/ros2_v4l2_camera

hesai_lidar_driver

GrandTour Hesai ROS driver

hesai_lidar_ros_driver

A general ROS driver for Hesai LiDARs

hesai_lidar_sdk

A general SDK for Hesai LiDARs

Livox-LiDAR-SDK2

Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.

multimaster_fkie

ROS stack with FKIE packages for multi-robot (discovering, synchronizing and management GUI)

ROS-TCP-Connector

ROS-TCP-Endpoint

ROS package used to create an endpoint to accept ROS messages sent from a Unity scene using the ROS TCP Connector scripts

wide_angle_wristcam