This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC enables users to thoroughly evaluate and develop control algorithms for robotic systems. While existing software frameworks provide some of these capabilities, integrating them into a cohesive system can be challenging and cumbersome. To overcome this challenge, we have modularized each component in RPC to ensure easy and seamless integration or replacement with new modules. Additionally, our framework currently supports a variety of model-based planning and control algorithms for robotic manipulators and legged robots, alongside essential debugging tools, making it easier for users to design and execute complex robotics tasks. The code and usage instructions of RPC are available at https://github.com/shbang91/rpc.

翻译：本文提出一个开源、轻量级且功能全面的软件框架RPC，该框架集成了基于物理的仿真器、规划与控制库、调试工具以及用户友好的操作界面。RPC使用户能够对机器人系统的控制算法进行全面评估与开发。尽管现有软件框架已部分具备这些功能，但将其整合为协调统一的系统仍存在挑战且过程繁琐。为应对这一挑战，我们将RPC的各个组件模块化，确保能够轻松无缝地集成或替换新模块。此外，本框架目前支持多种基于模型的机器人机械臂与足式机器人规划控制算法，并配备必要的调试工具，从而帮助用户更便捷地设计与执行复杂的机器人任务。RPC的代码与使用说明详见https://github.com/shbang91/rpc。