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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)

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2. mpx mpx Public

   Model Predictive Control in JAX

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3. muse muse Public

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

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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

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5. Panoptic-SLAM Panoptic-SLAM Public

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

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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

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