VirtualModelControl
virtualmodelcontrol is a Python library for Virtual Model Control (VMC). Robots and
controllers are described as mechanisms: coordinates plus springs, dampers, inertances and
sources. One CasADi model serves the real-time controller, simulation and optimization.
A collaboration between EPFL (Prof. Josie Hughes) and the University of Cambridge (Prof. Fulvio Forni).
Install
Python ≥ 3.10 on Linux, macOS or Windows:
pip install virtualmodelcontrol
Then import virtualmodelcontrol as vmc. The latest development version installs with
pip install "git+https://github.com/vigno0405/VirtualModelControl.git".
Develop
On Linux or macOS (Windows: see the install page in the docs):
git clone https://github.com/vigno0405/VirtualModelControl.git
cd VirtualModelControl
python3 -m venv .venv
.venv/bin/pip install -e ".[dev,docs]"
.venv/bin/python -m pytest
On Debian/Ubuntu, python3 -m venv needs the python3-venv package
(sudo apt install python3-venv); a conda environment works too. If ROS 2 is sourced in your
shell, prefix these commands with env -u PYTHONPATH so ROS's Python packages stay out of the
environment.
Documentation
https://vigno0405.github.io/VirtualModelControl/
To build it locally: sphinx-build docs docs/_build/html, then open
docs/_build/html/index.html.
Citing
See CITATION.cff.
1 maintainer
Metadata
1 maintainer
Release files for virtualmodelcontrol 0.1.0
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| File | Size | Uploaded | Provenance | |
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| virtualmodelcontrol-0.1.0.tar.gz | 148.0 kB | With provenance | Details |
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| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| virtualmodelcontrol-0.1.0-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 203.5 kB
Release files / virtualmodelcontrol-0.1.0.tar.gz
| Download URL | virtualmodelcontrol-0.1.0.tar.gz |
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| Tags | Source |
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| Size | 55.5 kB |
| Tags | Python 3 |
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