Discover leggedrobotics/cuda_ue4_linux Open Source project

Best practices, conventions, and tricks for ROS. Do you want to become a robotics master? Then consider graduating or working at the Robotics Systems Lab at ETH in Zürich!

2,017

ros_best_practices

Isaac Gym Environments for Legged Robots

1,403

legged_gym

Optimal Control for Switched Systems

971

ocs2

Elevation Mapping on GPU.

731

elevation_mapping_cupy

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

455

open3d_slam

Pure Pursuit Control and SE(2) Planning

454

se2_navigation

An Architecture for the Versatile Control of Legged Robots

402

free_gait

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

388

rsl_rl

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

330

raisimLib

325

traversability_estimation

Traversability mapping for mobile rough terrain navigation

Visualization of Motions for Legged Robots in ros-rviz

310

xpp

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

293

graph_msf

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

242

icp_localization

Self-supervised Deep LiDAR Odometry for Robotic Applications

232

delora

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim

226

SimBenchmark

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach

193

iPlanner

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

178

viplanner

Supplementary materials for "Learning Locomotion over Challenging Terrain"

175

learning_quadrupedal_locomotion_over_challenging_terrain_supplementary

raisimGym

perceptive_mpc

Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"

Local Navigation Planner for Legged Robots

120

art_planner

Pre-built TensorFlow for C/C++ and CMake.

116

tensorflow-cpp

Shell

114

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.

MATLAB

terrain-generator

Learning-based localizability estimation for robust LiDAR localization.

L3E

MPC-Net

Accompanying code for the publication "MPC-Net: A First Principles Guided Policy Search"

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

wild_visual_navigation

elmo_ethercat_sdk

Imposition of Hard Convex Constraints on Neural Networks

rayen

https://rsl.ethz.ch/partnership/spinoff/raisim.html

raisimOgre

tree_detection

This package implements a simple tree detector from point cloud data. It makes no assumptions about the ground plane and can handle arbitrary terrains.

A Reinforcement Learning Software Toolbox for Robotics

noesis

Guidelines on how to hardware synchronize the time of multiple sensors, e.g., IMU, cameras, etc.

hardware_time_sync

RSLGym

Reinforcement learning framework from RSL for policy training with RaiSim.

Anomaly Navigation - ANNA

anomaly_navigation

Datasets collected by Team CERBERUS during the DARPA Subterranean Challenge

cerberus_darpa_subt_datasets

RaiSimUnity

A visualizer for RaiSim based on Unity

swerve_steering

smug_planner

Collection of workflows, best-practices and guidelines for software development.

workflows

A library to communicate to devices connected through CAN, EtherCat, USB or TCP/IP.

tcan

This software package serves as a C++ interface for one or more EtherCAT devices running on the same bus. The lower level EtherCAT communication is handled by the SOEM library.

soem_interface

raw_image_pipeline

Image processing pipeline for cameras that provide RAW data

A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.

urdf2robcogen

Implementation of an ethercat device driver for the maxon epos 4

maxon_epos_ethercat_sdk

Various robotic assets for OCS2 Toolbox

ocs2_robotic_assets

A wrapper around SOEM to allow multiple masters and devices on EtherCAT

ethercat_sdk_master

cerberus_anymal_locomotion

Manages setup yaml files for the RSL ethercat infrastructure

ethercat_device_configurator

pytictac

Simple Timing Utils

An RQT plugin generator script, supporting several arguments to generate a rqt plugin for ROS, similar to catkin_create_pkg

catkin_create_rqt

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

terra

learning_docker

Shell

plr-exercise

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

terra-baselines

Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"

rl-blindloco

HTML

anymal_brax

rsl_heap

An Ubuntu indicator applet to show the ping status.

any_ping_indicator

self_supervised_segmentation

Catkinized version of gtsam.

gtsam_catkin

Benchmarks and map generation for the Terra environment.

mobile_manipulation

Under construction

digbench

Launch files and utility nodes for running the Realsense on SMB

realsense_eth_robotics_summer_school_2019

rsl_panoptic_mapping

rsl_panoptic

pretrained_depth_embedders