Repositories list

• unitree-ros2-dls

  Public
  A wrapper over unitree_ros2 repository, that adds a new script for comunicating with DLS controllers

  sdkros2unitree

  sdkros2unitree

  C++

  •00 forks•66 stars•11 issue•00 pull requests•Updated Jun 19, 2026Jun 19, 2026

• sim2real-robot-identification

  Public
  A joints calibration routine for quadrupeds and manipulators to facilitate sim-to-real transfer from isaaclab and mujoco to real robots

  reinforcement-learningsimulationquadruped+ 3

  reinforcement-learningsimulationquadrupedmujocosim-to-realisaaclab

  Python

  •

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

  •33 forks•3636 stars•00 issues•00 pull requests•Updated Jun 19, 2026Jun 19, 2026

• morphosymm-rl

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

  reinforcement-learningsymmetriesisaaclab+ 1

  reinforcement-learningsymmetriesisaaclabrsl-rl

  Python

  •

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

  •11 fork•3232 stars•11 issue•00 pull requests•Updated Jun 17, 2026Jun 17, 2026

• basic-locomotion-isaaclab

  Public
  An IsaacLab extension by DLS for basic locomotion tasks on multiple quadruped robots, with sim-to-sim and sim-to-real pipelines

  reinforcement-learninglocomotionquadruped+ 3

  reinforcement-learninglocomotionquadrupedmujocosim-to-realisaaclab

  Python

  •

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

  •88 forks•9090 stars•66 issues•00 pull requests•Updated Jun 17, 2026Jun 17, 2026

• muse

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

  sensor-fusionstate-estimationquadruped-robots

  sensor-fusionstate-estimationquadruped-robots

  C++

  •

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

  •1919 forks•125125 stars•44 issues•00 pull requests•Updated Jun 11, 2026Jun 11, 2026

• get-up-isaaclab

  Public
  An IsaacLab extension by DLS for the quadruped get-up task, with sim-to-sim and sim-to-real pipelines

  reinforcement-learningrecoveryquadruped+ 3

  reinforcement-learningrecoveryquadrupedmujocosim-to-realisaaclab

  Python

  •

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

  •22 forks•66 stars•11 issue•00 pull requests•Updated Jun 10, 2026Jun 10, 2026

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1

  locomotionquadrupedmujocomujoco-environments

  Python

  •2020 forks•7878 stars•66 issues•00 pull requests•Updated Jun 10, 2026Jun 10, 2026

• 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+ 4

  optimizationlocomotionros2mujocojaxacadosquadruped-robot

  Python

  •

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

  •6868 forks•479479 stars•44 issues•33 pull requests•Updated Jun 9, 2026Jun 9, 2026

• piper-ros2-dls

  Public
  A wrapper over piper_sdk repository, that adds a new script for comunicating with DLS controllers

  Python

  •00 forks•55 stars•00 issues•00 pull requests•Updated Jun 8, 2026Jun 8, 2026

• state_estimation_benchmark

  Public
  A Proprioceptive-Only Benchmark for Quadruped Robot's State Estimation

  C++

  •

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

  •00 forks•1717 stars•11 issue•00 pull requests•Updated Jun 5, 2026Jun 5, 2026

• 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 boar…

  Python

  •

  MIT License

  •11 fork•4747 stars•1212 issues•22 pull requests•Updated May 21, 2026May 21, 2026

• locomanipulation-teleop-isaaclab

  Public
  An IsaacLab extension by DLS for performing teleoperation with Unitree Go2 + AgileX Piper

  Python

  •

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

  •22 forks•1717 stars•00 issues•00 pull requests•Updated May 20, 2026May 20, 2026

• mpx

  Public
  Model Predictive Control in JAX

  optimizationlocomotionhumanoid-robot+ 3

  optimizationlocomotionhumanoid-robotmujocojaxquadruped-robot

  Python

  •

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

  •3131 forks•241241 stars•44 issues•22 pull requests•Updated May 13, 2026May 13, 2026

• jax_ocp_solvers

  Public
  JAX Optimization for OCP

  Python

  •77 forks•1616 stars•00 issues•00 pull requests•Updated May 13, 2026May 13, 2026

• trash-collection-isaaclab

  Public
  An IsaacLab extension by DLS for performing trash collection with legged robots

  reinforcement-learningminkmanipulation+ 3

  reinforcement-learningminkmanipulationquadrupedmujocoisaaclab

  Python

  •

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

  •22 forks•2323 stars•11 issue•00 pull requests•Updated May 4, 2026May 4, 2026

• z1_sdk

  Public
  SDK tools for controlling z1 robot

  C++

  •

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

  •3939 forks•00 stars•00 issues•00 pull requests•Updated Apr 20, 2026Apr 20, 2026

• 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 m…

  C++

  •111111 forks•00 stars•00 issues•00 pull requests•Updated Mar 27, 2026Mar 27, 2026

• iit-DLSLab.github.io

  Public
  Github repository for website

  00 forks•11 star•00 issues•00 pull requests•Updated Mar 11, 2026Mar 11, 2026

• croSTAta

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

  Python

  •11 fork•1919 stars•00 issues•00 pull requests•Updated Mar 8, 2026Mar 8, 2026

• 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++

  •107107 forks•33 stars•00 issues•00 pull requests•Updated Feb 10, 2026Feb 10, 2026

• Panoptic-SLAM

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

  C++

  •

  GNU General Public License v3.0

  •77 forks•120120 stars•00 issues•00 pull requests•Updated Feb 3, 2026Feb 3, 2026

• stable-baselines3-devkit

  Public
  SB3 on steroids

  Python

  •00 forks•33 stars•00 issues•00 pull requests•Updated Feb 1, 2026Feb 1, 2026

• SANDRO

  Public
  A robust algorithm for point cloud registration, using Graduated Non-Convexity and a Geman-McClure robust loss function to handle high outlier rates.

  Python

  •22 forks•2323 stars•00 issues•00 pull requests•Updated Dec 19, 2025Dec 19, 2025

• VAR-SLAM

  Public
  A robust visual SLAM system for dynamic environments

  00 forks•99 stars•00 issues•00 pull requests•Updated Dec 18, 2025Dec 18, 2025

• TEDi

  Public
  Python

  •66 forks•00 stars•00 issues•00 pull requests•Updated Oct 14, 2025Oct 14, 2025

• DWMPC

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

  optimizationlocomotionwhole-body-control+ 2

  optimizationlocomotionwhole-body-controlmujocoacados

  C

  •88 forks•8686 stars•11 issue•00 pull requests•Updated Apr 22, 2025Apr 22, 2025

• ec_dds

  Public
  C++

  •00 forks•00 stars•00 issues•00 pull requests•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

  •66 forks•00 stars•00 issues•00 pull requests•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

  •5353 forks•00 stars•00 issues•00 pull requests•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 …

  C++

  •1010 forks•77 stars•11 issue•00 pull requests•Updated Nov 26, 2024Nov 26, 2024