Repositories list

• mpx

  Public
  Model Predictive Control in JAX

  optimizationlocomotionhumanoid-robot+ 3mujocojaxquadruped-robot

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •12•151•3•0•Updated Nov 20, 2025Nov 20, 2025

• basic-locomotion-dls-isaaclab

  Public
  An IsaacLab extension from DLS for basic locomotion tasks on multiple quadruped robots, featuring sim-to-sim and sim-to-real pipelines along with a set of RL optimization tricks.

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •3•33•0•0•Updated Nov 19, 2025Nov 19, 2025

• Quadruped-PyMPC

  Public
  A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

  optimizationlocomotionros2+ 4mujocojaxacadosquadruped-robot

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •48•386•4•3•Updated Nov 19, 2025Nov 19, 2025

• muse

  Public
  A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data

  sensor-fusionstate-estimationquadruped-robots

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •15•93•4•2•Updated Nov 19, 2025Nov 19, 2025

• vicon_bridge

  Public
  This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.

  C++

  •111•0•0•0•Updated Nov 6, 2025Nov 6, 2025

• VAR-SLAM

  Public
  0•4•0•0•Updated Oct 27, 2025Oct 27, 2025

• Panoptic-SLAM

  Public
  Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation

  C++

  •

  GNU General Public License v3.0

  •8•111•0•0•Updated Oct 27, 2025Oct 27, 2025

• simple-joints-identification-isaaclab

  Public
  A simple joints calibration routine for facilitating sim-to-real transfer from isaaclab to real robots

  reinforcement-learningsimulationmujoco+ 3isaacsimsim-to-realisaaclab

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •0•3•0•0•Updated Oct 22, 2025Oct 22, 2025

• iit-DLSLab.github.io

  Public
  Github repository for website

  0•1•0•0•Updated Oct 21, 2025Oct 21, 2025

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1mujoco-environments

  Python

  •14•57•6•1•Updated Oct 20, 2025Oct 20, 2025

• TEDi

  Public
  Python

  •6•0•0•0•Updated Oct 14, 2025Oct 14, 2025

• unitree_ros2_dls

  Public
  A fork from unitree_ros2 repository, that adds a new script for comunicating with DLS controllers

  C++

  •131•0•0•0•Updated Oct 8, 2025Oct 8, 2025

• croSTAta

  Public
  Cross-State Transition Attention Transformer for improved robotic manipulation with better temporal modeling; https://arxiv.org/abs/2510.00726

  Python

  •1•14•0•0•Updated Oct 1, 2025Oct 1, 2025

• morphosymm-rl

  Public
  Extension of RSL-RL for using Morphological Symmetries in IsaacLab

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •0•21•1•0•Updated Sep 18, 2025Sep 18, 2025

• elevation_mapping_gpu_ros2

  Public
  This repo contains the implementation of elevation mapping cupy for ros2 humble. The package works for x64 architecture and ARM arch for NVIDIA Jetson Orin boards

  Python

  •0•34•7•0•Updated Sep 11, 2025Sep 11, 2025

• ORB-SLAM3-ROS2-Docker

  Public
  This repository contains a full wrapper class for running ORB-SLAM3 on a docker container with ROS2 Humble with Ubuntu 22.04.

  C++

  •74•3•0•0•Updated Jul 8, 2025Jul 8, 2025

• primal_dual_ilqr

  Public
  JAX Optimization for OCP

  Python

  •5•9•0•0•Updated Jul 4, 2025Jul 4, 2025

• SANDRO

  Public
  Python

  •2•21•0•0•Updated May 21, 2025May 21, 2025

• DWMPC

  Public
  A distributed whole-body model predictive control for quadruped robots

  optimizationlocomotionwhole-body-control+ 2mujocoacados

  C

  •6•68•1•0•Updated Apr 22, 2025Apr 22, 2025

• ec_dds

  Public
  C++

  •0•0•0•0•Updated Mar 6, 2025Mar 6, 2025

• fastdds-visualizer-plugin

  Public
  PlotJuggler plugin for Fast DDS. This fork is used to make plotjuggler working with discovery server

  C++

  •

  GNU General Public License v2.0

  •6•0•0•0•Updated Jan 24, 2025Jan 24, 2025

• rai_dls

  Public
  Robotic AI bare code. This is designed as shared submodule of other projects. Try other repos that expose clearer interfaces (rai-python, robotics-course) first.

  C++

  •

  MIT License

  •51•0•0•0•Updated Dec 5, 2024Dec 5, 2024

• sensors-description

  Public
  This package contains the description (kinematic, visual, plugin, etc.) of the different sensors used at DLS lab. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

  C++

  •11•7•1•0•Updated Nov 26, 2024Nov 26, 2024

• z1_sdk

  Public
  SDK tools for controlling z1 robot

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •33•0•0•0•Updated Oct 29, 2024Oct 29, 2024

• dls_orbit

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  Other

  •2.7k•1•0•0•Updated Jul 8, 2024Jul 8, 2024

• ecat-client-advr

  Public
  EtherCAT Client for the the communication with the master. - DLS

  C++

  •1•0•0•0•Updated Apr 23, 2024Apr 23, 2024

• z1_controller

  Public
  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •26•0•0•0•Updated Apr 1, 2024Apr 1, 2024

• reactive_landing_controller

  Public
  Code for the paper Reactive Landing Controller for Quadruped Robots

  Python

  •

  Apache License 2.0

  •2•19•0•0•Updated Aug 30, 2023Aug 30, 2023

• ros_impedance_controller

  Public
  C++

  •0•9•0•0•Updated Sep 28, 2022Sep 28, 2022

• locomotion-viewer

  Public
  An Eigen tool to visualize in Rviz locomotion-related geometric objects

  controlcomputer-graphicsmotion-planning+ 3computational-geometrylocomotionlegged-robotics

  C++

  •

  Apache License 2.0

  •3•7•0•0•Updated Sep 27, 2020Sep 27, 2020