{"id":15048049,"url":"https://github.com/stephane-caron/vulp","last_synced_at":"2025-03-27T07:31:35.536Z","repository":{"id":110892309,"uuid":"480685646","full_name":"stephane-caron/vulp","owner":"stephane-caron","description":"Robot/simulation switch for the mjbots stack","archived":true,"fork":false,"pushed_at":"2024-08-09T11:46:21.000Z","size":3875,"stargazers_count":63,"open_issues_count":0,"forks_count":4,"subscribers_count":3,"default_branch":"main","last_synced_at":"2025-03-24T07:09:45.407Z","etag":null,"topics":["cpp17","locomotion-control","mjbots","motion-control","python","real-time","robotics","simulation"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/stephane-caron.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.md","contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-04-12T06:41:54.000Z","updated_at":"2024-12-14T00:06:28.000Z","dependencies_parsed_at":null,"dependency_job_id":"6221740d-9b0e-45c4-ac76-9050af9799a4","html_url":"https://github.com/stephane-caron/vulp","commit_stats":{"total_commits":675,"total_committers":5,"mean_commits":135.0,"dds":0.1466666666666666,"last_synced_commit":"cafb09a40f8abb32953cfeda0ade895543341680"},"previous_names":["upkie/vulp","stephane-caron/vulp"],"tags_count":15,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stephane-caron%2Fvulp","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stephane-caron%2Fvulp/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stephane-caron%2Fvulp/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/stephane-caron%2Fvulp/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/stephane-caron","download_url":"https://codeload.github.com/stephane-caron/vulp/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":245802699,"owners_count":20674729,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cpp17","locomotion-control","mjbots","motion-control","python","real-time","robotics","simulation"],"created_at":"2024-09-24T21:07:31.563Z","updated_at":"2025-03-27T07:31:30.527Z","avatar_url":"https://github.com/stephane-caron.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Vulp – Robot/simulation switch\n\n\u003e [!IMPORTANT]\\\n\u003e Vulp has been merged into the [Upkie wheeled biped software](https://github.com/upkie/upkie) and is not developed as a standalone library any more. If you need similar features for your own robot, we recommend you rather start from the latest [moteus](https://pypi.org/project/moteus/) C++ bindings.\n\nVulp provides an action-observation loop to control robots from a standalone \"agent\" process, like this:\n\n\u003cp align=\"center\"\u003e\n\u003cimg src=\"https://raw.githubusercontent.com/upkie/vulp/main/docs/figures/action-observation-loop-full.svg\" alt=\"Action-observation loop with Vulp\" class=\"center\"/\u003e\n\u003c/p\u003e\n\nVulp is designed for robots built with the mjbots stack ([moteus](https://github.com/mjbots/moteus/) servo controllers and [pi3hat](https://github.com/mjbots/pi3hat/) communication board). It provides a robot/simulation switch to train or test agents in [Bullet](https://github.com/bulletphysics/bullet3) before running them on the real system. Vulp supports Linux and macOS for development, and Raspberry Pi OS for robot deployment.\n\n## See also\n\n* [moteus](https://pypi.org/project/moteus/): bindings for moteus brushless controllers.\n* [odri_control_interface](https://github.com/open-dynamic-robot-initiative/odri_control_interface): interface to control robots built with the [ODRI](https://github.com/open-dynamic-robot-initiative) Master Board.\n* [kodlab_mjbots_sdk](https://github.com/KodlabPenn/kodlab_mjbots_sdk): C++-only framework integrated with [LCM](https://lcm-proj.github.io/lcm/) for logging and remote I/O.\n* [mc\\_rtc](https://github.com/jrl-umi3218/mc_rtc/): C++ real-time control framework with QP-based whole-body control.\n* [robot\\_interfaces](https://github.com/open-dynamic-robot-initiative/robot_interfaces): IPC between non-realtime Python and real-time C++ processes with Python bindings.\n* [ros2_control](https://github.com/ros-controls/ros2_control): C++ framework for real-time control using ROS2 (still a work in progress).\n\n## Why the name \"Vulp\"?\n\n[Vulp](https://en.wiktionary.org/wiki/vulp#Noun_2) means \"fox\" in Romansh, a language spoken in the Swiss canton of the Grisons. Foxes are arguably quite reliable in their reaction times 🦊\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstephane-caron%2Fvulp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstephane-caron%2Fvulp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstephane-caron%2Fvulp/lists"}