Repositories list

• unitree_ros2_dls

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

  C++

  •0•2•1•0•Updated Feb 25, 2026Feb 25, 2026

• 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 m…

  C++

  •111•0•0•0•Updated Feb 23, 2026Feb 23, 2026

• piper_ros2_dls2

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

  Makefile

  •0•0•0•0•Updated Feb 20, 2026Feb 20, 2026

• morphosymm-rl

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

  Python

  •

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

  •1•26•1•0•Updated Feb 19, 2026Feb 19, 2026

• mpx

  Public
  Model Predictive Control in JAX

  optimizationlocomotionhumanoid-robot+ 3mujocojaxquadruped-robot

  Python

  •

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

  •17•175•4•0•Updated Feb 13, 2026Feb 13, 2026

• iit-DLSLab.github.io

  Public
  Github repository for website

  0•1•0•0•Updated Feb 12, 2026Feb 12, 2026

• 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++

  •93•3•0•0•Updated Feb 10, 2026Feb 10, 2026

• basic-locomotion-dls-isaaclab

  Public
  An IsaacLab extension from DLS for basic locomotion tasks on multiple quadruped robots, featuring sim-to-sim and sim-to-real pipelines along with a set of RL op…

  Python

  •

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

  •4•48•0•0•Updated Feb 9, 2026Feb 9, 2026

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1mujoco-environments

  Python

  •18•68•6•1•Updated Feb 8, 2026Feb 8, 2026

• Panoptic-SLAM

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

  C++

  •

  GNU General Public License v3.0

  •8•113•0•0•Updated Feb 3, 2026Feb 3, 2026

• stable-baselines3-devkit

  Public
  SB3 on steroids

  Python

  •0•3•0•0•Updated Feb 1, 2026Feb 1, 2026

• primal_dual_ilqr

  Public
  JAX Optimization for OCP

  Python

  •7•11•0•0•Updated Jan 23, 2026Jan 23, 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 boar…

  Python

  •0•40•9•0•Updated Jan 20, 2026Jan 20, 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)

  optimizationlocomotionros2+ 4mujocojaxacadosquadruped-robot

  Python

  •

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

  •56•429•4•3•Updated Jan 19, 2026Jan 19, 2026

• z1_sdk

  Public
  SDK tools for controlling z1 robot

  C++

  •

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

  •38•0•0•0•Updated Jan 14, 2026Jan 14, 2026

• SANDRO

  Public
  A robust algorithm for point cloud registration, using Graduated Non-Convexity and a Geman-McClure robust loss function to handle high outlier rates.

  Python

  •2•22•0•0•Updated Dec 19, 2025Dec 19, 2025

• VAR-SLAM

  Public
  A robust visual SLAM system for dynamic environments

  0•7•0•0•Updated Dec 18, 2025Dec 18, 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

  •16•105•3•0•Updated Dec 2, 2025Dec 2, 2025

• simple-robot-identification-isaaclab

  Public
  A simple joints calibration routine for facilitating sim-to-real transfer from isaaclab to real robots

  reinforcement-learningsimulationmujoco+ 3isaacsimsim-to-realisaaclab

  Python

  •

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

  •0•7•0•0•Updated Oct 22, 2025Oct 22, 2025

• TEDi

  Public
  Python

  •6•0•0•0•Updated Oct 14, 2025Oct 14, 2025

• croSTAta

  Public
  Cross-State Transition Attention Transformer for improved robotic manipulation with better temporal modeling; https://arxiv.org/abs/2510.00726

  Python

  •1•16•0•0•Updated Oct 1, 2025Oct 1, 2025

• DWMPC

  Public
  A distributed whole-body model predictive control for quadruped robots

  optimizationlocomotionwhole-body-control+ 2mujocoacados

  C

  •6•77•1•0•Updated Apr 22, 2025Apr 22, 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

  •6•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

  •53•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 …

  C++

  •11•7•1•0•Updated Nov 26, 2024Nov 26, 2024

• dls_orbit

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  Other

  •3.2k•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

  •28•0•0•0•Updated Apr 1, 2024Apr 1, 2024

• reactive_landing_controller

  Public

  iit-DLSLab/reactive_landing_controller’s past year of commit activity
  Code for the paper Reactive Landing Controller for Quadruped Robots

  Python

  •

  Apache License 2.0

  •2•20•0•0•Updated Aug 30, 2023Aug 30, 2023