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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 527 71

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 280 36

  3. muse muse Public

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

    C++ 138 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 133 13

  5. Panoptic-SLAM Panoptic-SLAM Public

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

    C++ 122 7

  6. DWMPC DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    C 91 8

Repositories

Showing 10 of 77 repositories
  • 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 85 BSD-3-Clause 6 1 0 Updated Sep 30, 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 133 BSD-3-Clause 13 5 0 Updated Sep 30, 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 28 BSD-3-Clause 4 1 0 Updated Sep 30, 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 21 BSD-3-Clause 5 0 0 Updated Sep 30, 2026
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped's past year of commit activity
    Python 80 19 6 (1 issue needs help) 0 Updated Sep 30, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 7 BSD-3-Clause 0 59 (2 issues need help) 5 Updated Sep 29, 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 527 BSD-3-Clause 71 1 0 Updated Sep 28, 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 28, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 1 Updated Sep 28, 2026
  • dls2_ros2_interface Public
    iit-DLSLab/dls2_ros2_interface's past year of commit activity
    Python 1 BSD-3-Clause 0 0 1 Updated Sep 22, 2026
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