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@iit-DLSLab

DLS Lab at Istituto Italiano di Tecnologia, Italy

Dynamic Legged Systems Lab - Design and control of high-performance, versatile legged robots, including planning and perception

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  1. Quadruped-PyMPC 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)

    Python 540 75

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 283 35

  3. muse muse Public

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

    C++ 144 21

  4. basic-locomotion-isaaclab basic-locomotion-isaaclab Public

    An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

    Python 141 13

  5. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 121 7

  6. sim2real-robot-identification 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

    Python 100 9

Repositories

Showing 10 of 81 repositories
  • 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)

    iit-DLSLab/Quadruped-PyMPC's past year of commit activity
    Python 540 BSD-3-Clause 75 1 0 Updated Nov 11, 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 boards

    iit-DLSLab/elevation_mapping_gpu_ros2's past year of commit activity
    Python 73 MIT 5 12 2 Updated Nov 11, 2026
  • fault-locomotion-isaaclab Public

    An IsaacLab DirectEnv for quadrupedal locomotion under motor failures, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

    iit-DLSLab/fault-locomotion-isaaclab's past year of commit activity
    Python 34 BSD-3-Clause 5 1 1 Updated Nov 11, 2026
  • basic-locomotion-isaaclab Public

    An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

    iit-DLSLab/basic-locomotion-isaaclab's past year of commit activity
    Python 141 BSD-3-Clause 13 4 0 Updated Nov 11, 2026
  • unitree-ros2-dls Public

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

    iit-DLSLab/unitree-ros2-dls's past year of commit activity
    C++ 12 5 0 0 Updated Nov 9, 2026
  • locomanipulation-teleop-isaaclab Public

    An IsaacLab DirectEnv for performing teleoperation with Unitree Go2 + AgileX Piper, with support for sim-to-sim and sim-to-real pipelines

    iit-DLSLab/locomanipulation-teleop-isaaclab's past year of commit activity
    Python 38 BSD-3-Clause 3 1 0 Updated Nov 9, 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

    iit-DLSLab/sim2real-robot-identification's past year of commit activity
    Python 100 BSD-3-Clause 9 1 0 Updated Nov 9, 2026
  • piper-ros2-dls Public

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

    iit-DLSLab/piper-ros2-dls's past year of commit activity
    Python 7 2 0 0 Updated Nov 9, 2026
  • ecat-client-advr Public Forked from Advanced-Robotics-Facility/ecat-client-advr

    EtherCAT Client for the the communication with the master.

    iit-DLSLab/ecat-client-advr's past year of commit activity
    C++ 0 1 0 0 Updated Nov 9, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 1 Updated Nov 8, 2026
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