{"id":19855164,"url":"https://github.com/leggedrobotics/rsl_heap","last_synced_at":"2025-11-24T01:03:15.579Z","repository":{"id":83356540,"uuid":"553339427","full_name":"leggedrobotics/rsl_heap","owner":"leggedrobotics","description":null,"archived":false,"fork":false,"pushed_at":"2023-04-15T14:24:03.000Z","size":1182,"stargazers_count":7,"open_issues_count":0,"forks_count":4,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-01-11T13:52:51.781Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-10-18T04:14:21.000Z","updated_at":"2023-11-23T06:40:13.000Z","dependencies_parsed_at":"2024-11-12T14:12:02.625Z","dependency_job_id":"e4e10660-7cc9-4a1e-b43a-2182166bd3e4","html_url":"https://github.com/leggedrobotics/rsl_heap","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_heap","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_heap/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_heap/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Frsl_heap/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/rsl_heap/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241245260,"owners_count":19933295,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-12T14:11:54.967Z","updated_at":"2025-11-24T01:03:15.540Z","avatar_url":"https://github.com/leggedrobotics.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# RSL HEAP\nThis repository is a collection of material for the HEAP excavator at the Robotic Systems Lab at ETH Zurich.\nThe main contributors of this repository and the linked resources  are (ordered alphatically by last name):\n\n**Burak Cizmezi, Pascal Egli, Edo Jelavic, Ryan Johns, Dominic Jud, Simon Kerscher, Grzegorz Malczyk, Fang Nan, \nJulian Nubert, Lorenzo Terenzi, Marco Tranzatto, Fan Yang**\n\n\u003cimg src=\"doc/heap.jpg\" width=\"50%\" height=\"50%\"\u003e\n\n## Resources\nThis repository will be continously updated over the coming months and years.\nThe main content will consist of resources to run and reproduce our open-source code, recorded datasets, recent related\npubliations and other material.\n\n### HEAP URDF\nThe [./heap_urdf](./heap_urdf) directory contains a URDF with the full HEAP collision model.\n\n### Recent Publications\n#### 2022\n* Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter, \"Soil-Adaptive Excavation Using \nReinforcement Learning\", IROS2022\n  * [Paper](https://www.research-collection.ethz.ch/handle/20.500.11850/557541)\n* Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter, \"Learning-based Localizability Estimation for Robust \nLiDAR Localization\", IROS2022\n  * Code: [https://github.com/leggedrobotics/L3E](https://github.com/leggedrobotics/L3E)\n  * [Paper](https://arxiv.org/abs/2203.05698)\n* Edo Jelavic, Julian Nubert, Marco Hutter, \"Open3D SLAM: Point Cloud Based Mapping and Localization for Eduation\",\nICRA2022 Workshop\n  * Code: [https://github.com/leggedrobotics/open3d_slam](https://github.com/leggedrobotics/open3d_slam)\n  * [Poster](https://www.research-collection.ethz.ch/handle/20.500.11850/551852)\n* Julian Nubert, Shehryar Khattak, Marco Hutter, \"Graph-based Multi-sensor Fusion for Consistent Localization of \nAutonomous Construction Robots\", ICRA2022\n  * Code: [https://github.com/leggedrobotics/graph_msf](https://github.com/leggedrobotics/graph_msf)\n  * [Paper](https://arxiv.org/pdf/2203.01389.pdf)\n* Edo Jelavic, Tun Kapgen, Simon Kerscher, Dominic Jud, Marco Hutter, \"Harveri: A Small (Semi-) Autonomous Precision \nTree Harvester\", ICRA2022 Workshop\n  * [Paper](https://www.research-collection.ethz.ch/handle/20.500.11850/549974)\n\n### Datasets\n* Data accompanying to our ICRA2022 paper:\n  * [Google Drive Link](https://drive.google.com/drive/folders/1qZg_DNH3wXnQu4tNIcqY925KZFDu8y0M?usp=sharing)\n  * Contains: IMU measurements, LiDAR odometry from CompSLAM, Left and Right GNSS measurements, and an (arm-)filtered point cloud.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Frsl_heap","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Frsl_heap","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Frsl_heap/lists"}