Repositories list

• 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•15•0•0•Updated Aug 7, 2025Aug 7, 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

  •37•343•5•3•Updated Aug 6, 2025Aug 6, 2025

• mpx

  Public
  Model Predictive Control in JAX

  optimizationlocomotionhumanoid-robot+ 3mujocojaxquadruped-robot

  Python

  •

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

  •5•79•3•0•Updated Aug 4, 2025Aug 4, 2025

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1mujoco-environments

  Python

  •13•46•5•2•Updated Jul 31, 2025Jul 31, 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

  •11•73•1•0•Updated Jul 29, 2025Jul 29, 2025

• morphosymm-rl

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

  Python

  •

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

  •0•16•1•0•Updated Jul 28, 2025Jul 28, 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++

  •61•2•0•0•Updated Jul 8, 2025Jul 8, 2025

• primal_dual_ilqr

  Public
  JAX Optimization for OCP

  Python

  •4•7•0•0•Updated Jul 4, 2025Jul 4, 2025

• iit-DLSLab.github.io

  Public
  Github repository for website

  0•1•0•0•Updated Jul 2, 2025Jul 2, 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

  •3•55•1•0•Updated Apr 22, 2025Apr 22, 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++

  •110•0•0•0•Updated Mar 28, 2025Mar 28, 2025

• Panoptic-SLAM

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

  C++

  •

  GNU General Public License v3.0

  •7•105•1•0•Updated Mar 8, 2025Mar 8, 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

  •5•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

  •49•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

  •27•0•0•0•Updated Oct 29, 2024Oct 29, 2024

• dls_orbit

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  Other

  •2.1k•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

  •21•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•17•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

• crocoddyl

  Public
  Git mirror of the official Crocoddyl's repository -- PULL REQUEST MUST BE SENT TO: https://gepgitlab.laas.fr/loco-3d/crocoddyl

  Python

  •

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

  •195•0•0•0•Updated Sep 13, 2019Sep 13, 2019

• dwl

  Public
  The Dynamic Whole-body Locomotion library (DWL)

  C++

  •

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

  •39•3•1•1•Updated Aug 22, 2019Aug 22, 2019

• dwl-msgs

  Public
  Message and service data structures for interacting with DWL library in ROS.

  C++

  •

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

  •3•0•0•0•Updated Jul 31, 2019Jul 31, 2019

• dwl-distro

  Public
  It contains all the dynamic whole-body locomotion packages

  7•1•0•0•Updated May 30, 2019May 30, 2019

• terrain-server

  Public
  Terrain mapping algorithm for motion planning and control in legged locomotion

  C++

  •

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

  •14•3•0•0•Updated May 30, 2019May 30, 2019

• dls_factor_graph_calibration

  Public
  This ROS package uses factor graphs to compute extrinsic parameters of multi-cameras on a robot

  C++

  •

  Apache License 2.0

  •8•10•0•0•Updated Nov 17, 2018Nov 17, 2018