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

  •14•190•4•1•Updated Oct 10, 2024Oct 10, 2024

• DWMPC

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

  optimizationlocomotionwhole-body-control+ 2mujocoacados

  C

  •1•27•0•0•Updated Oct 4, 2024Oct 4, 2024

• iit-DLSLab.github.io

  Public
  Github repository for website

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

• gym-quadruped

  Public
  Mujoco Gym environment for the control of quadruped robots

  locomotionquadrupedmujoco+ 1mujoco-environments

  Python

  •5•12•6•0•Updated Sep 12, 2024Sep 12, 2024

• ec_dds

  Public
  C++

  •0•0•0•0•Updated Jul 16, 2024Jul 16, 2024

• dls_orbit

  Public
  Unified framework for robot learning built on NVIDIA Isaac Sim

  Python

  •

  Other

  •834•1•0•0•Updated Jul 8, 2024Jul 8, 2024

• Panoptic-SLAM

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

  C++

  •

  GNU General Public License v3.0

  •5•71•0•0•Updated May 23, 2024May 23, 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

• reactive_landing_controller

  Public
  Python

  •

  Apache License 2.0

  •2•13•0•0•Updated Aug 30, 2023Aug 30, 2023

• ros_impedance_controller

  Public
  C++

  •0•9•0•0•Updated Sep 28, 2022Sep 28, 2022

• hyq-description

  Public
  This package contains the description (mechanical, kinematic, visual, etc.) of the different HyQ robots. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

  Python

  •

  Apache License 2.0

  •14•24•1•1•Updated Feb 12, 2022Feb 12, 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

  •170•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

  •37•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

• iit_commons

  Public
  A library for algebra, kinematics and dynamics for quadruped robots.

  C++

  •

  GNU Lesser General Public License v2.1

  •1•2•0•0•Updated Jun 24, 2019Jun 24, 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

• 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++

  •

  Apache License 2.0

  •10•7•1•0•Updated Oct 4, 2018Oct 4, 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

  •17•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

• locomotion-planner

  Public
  Repo for locomotion optimization, visualization and replanning

  C++

  •1•1•0•0•Updated Jun 14, 2018Jun 14, 2018

• clmclogger

  Public archive
  clmclogger tool for variable logging (C++) and clmcplot tool for data manipulation/visualization (MATLAB)

  MATLAB

  •2•0•0•0•Updated May 14, 2018May 14, 2018

• dls-gazebo

  Public archive
  Dynamic Legged Systems Gazebo simulation models and worlds

  CMake

  •3•4•0•0•Updated Apr 20, 2018Apr 20, 2018