| Name | vulp JSON |
| Version |
2.5.1
JSON |
| download |
| home_page | None |
| Summary | Robot/simulation switch for the mjbots stack. |
| upload_time | 2024-08-09 11:40:53 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | >=3.7 |
| license | None |
| keywords |
motion control
real time
robotics
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
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| coveralls test coverage |
No coveralls.
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# 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:
<p align="center">
<img src="https://raw.githubusercontent.com/upkie/vulp/main/docs/figures/action-observation-loop-full.svg" alt="Action-observation loop with Vulp" class="center"/>
</p>
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 🦊
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"description": "# Vulp \u2013 Robot/simulation switch\n\n> [!IMPORTANT]\\\n> 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<p align=\"center\">\n<img src=\"https://raw.githubusercontent.com/upkie/vulp/main/docs/figures/action-observation-loop-full.svg\" alt=\"Action-observation loop with Vulp\" class=\"center\"/>\n</p>\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 \ud83e\udd8a\n",
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