https://github.com/upkie/vulp

Robot/simulation switch for the mjbots stack
https://github.com/upkie/vulp

c-plus-plus cpp17 locomotion-control mjbots motion-control python real-time robotics simulation

Last synced: about 2 months ago
JSON representation

Robot/simulation switch for the mjbots stack

• Host: GitHub
• URL: https://github.com/upkie/vulp
• Owner: upkie
• License: apache-2.0
• Created: 2022-04-12T06:41:54.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-05-28T20:42:07.000Z (7 months ago)
• Last Synced: 2024-05-29T03:23:11.736Z (7 months ago)
• Topics: c-plus-plus, cpp17, locomotion-control, mjbots, motion-control, python, real-time, robotics, simulation
• Language: C++
• Homepage:
• Size: 3.76 MB
• Stars: 61
• Watchers: 2
• Forks: 3
• Open Issues: 7
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# Vulp – Robot/simulation switch

> [!IMPORTANT]\

> 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.

Vulp provides an action-observation loop to control robots from a standalone "agent" process, like this:







Vulp 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.

## See also

* [moteus](https://pypi.org/project/moteus/): bindings for moteus brushless controllers.

* [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.

* [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.

* [mc\_rtc](https://github.com/jrl-umi3218/mc_rtc/): C++ real-time control framework with QP-based whole-body control.

* [robot\_interfaces](https://github.com/open-dynamic-robot-initiative/robot_interfaces): IPC between non-realtime Python and real-time C++ processes with Python bindings.

* [ros2_control](https://github.com/ros-controls/ros2_control): C++ framework for real-time control using ROS2 (still a work in progress).

## Why the name "Vulp"?

[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 🦊