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
Genova, Italy
Pinned Repositories
dls_factor_graph_calibration
This ROS package uses factor graphs to compute extrinsic parameters of multi-cameras on a robot
dwl
The Dynamic Whole-body Locomotion library (DWL)
DWMPC
A distributed whole-body model predictive control for quadruped robots
gym-quadruped
Mujoco Gym environment for the control of quadruped robots
locomotion-viewer
An Eigen tool to visualize in Rviz locomotion-related geometric objects
Panoptic-SLAM
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation
Quadruped-PyMPC
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).
reactive_landing_controller
Code for the paper Reactive Landing Controller for Quadruped Robots
ros_impedance_controller
sensors-description
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.
DLS Lab at Istituto Italiano di Tecnologia, Italy's Repositories
iit-DLSLab/Quadruped-PyMPC
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/Panoptic-SLAM
Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation
iit-DLSLab/gym-quadruped
Mujoco Gym environment for the control of quadruped robots
iit-DLSLab/reactive_landing_controller
Code for the paper Reactive Landing Controller for Quadruped Robots
iit-DLSLab/DWMPC
A distributed whole-body model predictive control for quadruped robots
iit-DLSLab/dls_factor_graph_calibration
This ROS package uses factor graphs to compute extrinsic parameters of multi-cameras on a robot
iit-DLSLab/ros_impedance_controller
iit-DLSLab/locomotion-viewer
An Eigen tool to visualize in Rviz locomotion-related geometric objects
iit-DLSLab/sensors-description
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.
iit-DLSLab/dwl
The Dynamic Whole-body Locomotion library (DWL)
iit-DLSLab/dwl-rviz-plugin
Visualization plugins of whole-body state, trajectories, terrain map, etc
iit-DLSLab/terrain-server
Terrain mapping algorithm for motion planning and control in legged locomotion
iit-DLSLab/dls_orbit
Unified framework for robot learning built on NVIDIA Isaac Sim
iit-DLSLab/dwl-distro
It contains all the dynamic whole-body locomotion packages
iit-DLSLab/iit-DLSLab.github.io
Github repository for website
iit-DLSLab/ec_dds
iit-DLSLab/bcf2000
A ROS driver for the BCF2000 motorized midi fader.
iit-DLSLab/crocoddyl
Git mirror of the official Crocoddyl's repository -- PULL REQUEST MUST BE SENT TO: https://gepgitlab.laas.fr/loco-3d/crocoddyl
iit-DLSLab/dwl-lcmtypes
Message and service data structures for interacting with DWL library in LCM.
iit-DLSLab/dwl-msgs
Message and service data structures for interacting with DWL library in ROS.
iit-DLSLab/ecat-client-advr
EtherCAT Client for the the communication with the master. - DLS
iit-DLSLab/primal_dual_ilqr
JAX Optimization for OCP
iit-DLSLab/pronto
Robot Motion Estimator
iit-DLSLab/rai_dls
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.
iit-DLSLab/signal-scope
A live plotting tool for LCM message fields.
iit-DLSLab/vicon_bridge
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.
iit-DLSLab/vo_estimate
vo_estimate
iit-DLSLab/wb-state-publisher
The whole-body state publisher
iit-DLSLab/z1_controller
iit-DLSLab/z1_sdk
SDK tools for controlling z1 robot