Repositories list

• 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).

  optimizationlocomotionmujoco+ 3jaxacadosquadruped-robot

  Python

  •18•222•4•1•Updated Dec 12, 2024Dec 12, 2024

• primal_dual_ilqr

  Public
  JAX Optimization for OCP

  Python

  •1•0•0•0•Updated Dec 11, 2024Dec 11, 2024

• 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++

  •103•0•0•0•Updated Dec 10, 2024Dec 10, 2024

• DWMPC

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

  optimizationlocomotionwhole-body-control+ 2mujocoacados

  C

  •0•9•0•0•Updated Dec 6, 2024Dec 6, 2024

• 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

  •46•0•0•0•Updated Dec 5, 2024Dec 5, 2024

• Panoptic-SLAM

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

  C++

  •

  GNU General Public License v3.0

  •6•78•0•0•Updated Dec 2, 2024Dec 2, 2024

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1mujoco-environments

  Python

  •6•16•5•0•Updated Nov 28, 2024Nov 28, 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

• ec_dds

  Public
  C++

  •0•0•0•0•Updated Nov 14, 2024Nov 14, 2024

• z1_sdk

  Public
  SDK tools for controlling z1 robot

  C++

  •

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

  •23•0•0•0•Updated Oct 29, 2024Oct 29, 2024

• iit-DLSLab.github.io

  Public
  Github repository for website

  0•1•0•0•Updated Sep 16, 2024Sep 16, 2024

• dls_orbit

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  Other

  •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

  •19•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•16•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

  •174•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

  •38•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•2•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

• pronto

  Public
  Robot Motion Estimator

  C++

  •

  GNU Lesser General Public License v2.1

  •16•0•0•0•Updated Sep 4, 2018Sep 4, 2018

• wb-state-publisher

  Public
  The whole-body state publisher

  C++

  •

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

  •1•0•0•0•Updated Aug 31, 2018Aug 31, 2018

• dwl-rviz-plugin

  Public
  Visualization plugins of whole-body state, trajectories, terrain map, etc

  C++

  •

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

  •4•2•0•0•Updated Aug 31, 2018Aug 31, 2018

• signal-scope

  Public archive
  A live plotting tool for LCM message fields.

  C++

  •

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

  •18•0•0•0•Updated Aug 6, 2018Aug 6, 2018

• dwl-lcmtypes

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

  CMake

  •

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

  •1•0•0•0•Updated Aug 6, 2018Aug 6, 2018

• bcf2000

  Public archive
  A ROS driver for the BCF2000 motorized midi fader.

  Python

  •2•0•0•0•Updated Jul 31, 2018Jul 31, 2018

• vo_estimate

  Public
  vo_estimate

  C++

  •4•0•0•0•Updated Jun 15, 2018Jun 15, 2018