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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 536 73

  2. mpx mpx Public

    Model Predictive Control in JAX

    Python 282 35

  3. muse muse Public

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

    C++ 143 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 139 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 95 8

Repositories

Showing 10 of 80 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 33 BSD-3-Clause 5 1 1 Updated Nov 3, 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 95 BSD-3-Clause 8 1 0 Updated Nov 3, 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 139 BSD-3-Clause 13 5 0 Updated Nov 3, 2026
  • BeyondContact Public

    BeyondContact: A Reinforcement Learning Framework for Airflow-Based Non-Contact Manipulation

    iit-DLSLab/BeyondContact's past year of commit activity
    Python 4 0 0 0 Updated Nov 2, 2026
  • ZiMPedance Public

    This repo containts the code and example of the ZiMPedance paper

    iit-DLSLab/ZiMPedance's past year of commit activity
    Python 4 BSD-3-Clause 0 0 0 Updated Nov 2, 2026
  • dls2 Public

    Implementation of the DLS2 framework

    iit-DLSLab/dls2's past year of commit activity
    C++ 7 BSD-3-Clause 0 57 (2 issues need help) 5 Updated Oct 30, 2026
  • dls2_msgs Public
    iit-DLSLab/dls2_msgs's past year of commit activity
    CMake 1 BSD-3-Clause 0 1 1 Updated Oct 29, 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 Oct 29, 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 Oct 29, 2026
  • cicd_tools Public

    cicd actions and workflow collection of DLS lab

    iit-DLSLab/cicd_tools's past year of commit activity
    Shell 1 0 0 0 Updated Oct 29, 2026
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