Discover leggedrobotics/smug_planner Open Source project

Best practices, conventions, and tricks for ROS

2,158

ros_best_practices

Isaac Gym Environments for Legged Robots

1,477

legged_gym

Optimal Control for Switched Systems

1,188

ocs2

Elevation Mapping on GPU.

802

elevation_mapping_cupy

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

508

open3d_slam

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

503

rsl_rl

Pure Pursuit Control and SE(2) Planning

487

se2_navigation

An Architecture for the Versatile Control of Legged Robots

439

free_gait

Traversability mapping for mobile rough terrain navigation

397

traversability_estimation

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

352

raisimLib

325

xpp

Visualization of Motions for Legged Robots in ros-rviz

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).

259

icp_localization

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

258

viplanner

Self-supervised Deep LiDAR Odometry for Robotic Applications

236

delora

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

232

iPlanner

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

200

SimBenchmark

Supplementary materials for "Learning Locomotion over Challenging Terrain"

193

learning_quadrupedal_locomotion_over_challenging_terrain_supplementary

raisimGym

art_planner

Local Navigation Planner for Legged Robots

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

132

perceptive_mpc

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

129

wild_visual_navigation

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

126

tensorflow-cpp

terrain-generator

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

L3E

Learning-based localizability estimation for robust LiDAR localization.

elmo_ethercat_sdk

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

MPC-Net

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

tree_detection

Imposition of Hard Convex Constraints on Neural Networks

rayen

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

raisimOgre

noesis

A Reinforcement Learning Software Toolbox for Robotics

Reinforcement learning framework from RSL for policy training with RaiSim.

RSLGym

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

hardware_time_sync

anomaly_navigation

Anomaly Navigation - ANNA

Datasets collected by Team CERBERUS during the DARPA Subterranean Challenge

cerberus_darpa_subt_datasets

RaiSimUnity

A visualizer for RaiSim based on Unity

raw_image_pipeline

Image processing pipeline for cameras that provide raw data

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

tcan

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

swerve_steering

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

workflows

Implementation of Radiance Fields for Robotic Teleoperation

radiance_field_ros

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

terra

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

self_supervised_segmentation

Various robotic assets for OCS2 Toolbox

ocs2_robotic_assets

cerberus_anymal_locomotion

cuda_ue4_linux

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

ethercat_sdk_master

Manages setup yaml files for the RSL ethercat infrastructure

ethercat_device_configurator

lunar_planner

pytictac

catkin_create_rqt

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

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

rl-blindloco

HTML

learning_docker

Shell

any_ping_indicator

An Ubuntu indicator applet to show the ping status.

plr-exercise

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

terra-baselines

rsl_heap

anymal_brax

Official implementations from the paper "Should We Relax a Bit? A Study on Degeneracy Mitigation in Point Cloud Registration"

perfectlyconstrained

unity_ros_teleoperation

gtsam_catkin

Catkinized version of gtsam.

Benchmarks and map generation for the Terra environment.

digbench

Launch files and utility nodes for running the Realsense on SMB

mobile_manipulation

Under construction

realsense_eth_robotics_summer_school_2019

Release repository of the xpp repo, necessary for ros hosting.

xpp-release

rsl_panoptic_mapping

rsl_panoptic

pretrained_depth_embedders