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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 515 70

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 274 35

  3. muse muse Public

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

    C++ 133 20

  4. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 122 7

  5. 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 122 11

  6. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 92 8

Repositories

Showing 10 of 77 repositories
  • 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 19 BSD-3-Clause 3 1 0 Updated Sep 15, 2026
  • get-up-isaaclab Public

    An IsaacLab DirectEnv for the quadruped get-up task, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

    iit-DLSLab/get-up-isaaclab's past year of commit activity
    Python 14 BSD-3-Clause 4 0 0 Updated Sep 15, 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 122 BSD-3-Clause 11 5 0 Updated Sep 15, 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++ 8 2 0 0 Updated Sep 15, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 0 Updated Sep 15, 2026
  • dls2-barebone Public

    Barebone code for DLS2 framework

    iit-DLSLab/dls2-barebone's past year of commit activity
    C++ 8 BSD-3-Clause 0 1 2 Updated Sep 15, 2026
  • dls2_ros2_interface Public
    iit-DLSLab/dls2_ros2_interface's past year of commit activity
    Python 1 BSD-3-Clause 0 0 0 Updated Sep 15, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 6 BSD-3-Clause 0 59 (2 issues need help) 4 Updated Sep 15, 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 6 1 0 0 Updated Sep 14, 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)

    iit-DLSLab/Quadruped-PyMPC's past year of commit activity
    Python 515 BSD-3-Clause 70 2 0 Updated Sep 14, 2026
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