Open Source RoboticsRobots, software & learning

Hopper research control source

Software

The Hopper repository contains research control/trajectory software and IMU setup notes for a hopping platform. [1] [2] [3]

Installation & first result →Official websiteGetting started

For
Robotics developers inspecting the specified interface/research source [1] [2] [3]
Source rights
Some licenses are unresolved. Review licenses
Unknowns
operating system, compute requirements not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
not fully assessed for software, documentation · Details by part

Requirements · Research details and dates

On this page

Overview

The Hopper repository contains research control/trajectory software and IMU setup notes for a hopping platform. It has useful implementation to inspect without establishing a complete open hardware build. The README explicitly describes inertial control and parts of the mechanism as under development. [1] [2]

Is this for you?

Known limitations
  • READMEinertialcontrol remainsunderdevelopment; no completehardwaredesign oropenreusegrantidentified.
  • Sourcecontainsroughphysicalconstants andanODriveattribute mismatch; no claim example currentlyruns.

Editorial assessment of cited source; no runtime or hardware test.

[1] [2] [3] · Editorial assessment

What you need

Dependencies
  • HistoricalODrivePythonAPI plusnumpy/scipy/matplotlib; ArduinoMPU6050/I2Cdevroute forIMU
  • Namedtrajectory format,encoder/calibrationparameters andactualmechanism configuration

[1] [2] [3]

Installation & first result

Open the upstream getting-started guide [1] [2] [3]

  • Inspect the named implementation and matched configuration; reconcile the documented gaps first.
  • Select only the relevant interface/backend; do not treat example output as completed physical action.

Editorial assessment of cited source; no runtime or hardware test.

[1] [2] [3] · Editorial assessment

Installation

Historical ODrive Python API plus numpy/scipy/matplotlib and separate Arduino MPU6050/I2Cdev setup notes; no complete current install or commissioning recipe established.

Documented source requirements/route, not installation or compatibility reproduced by this catalog.

[1] [2]

Project notes

Begin with the source model and trajectory format

Hopper's Python class describes an input trajectory with time, angle, angular velocity and torque rows, then performs offline interpolation/conversion for a selected control frequency. The constructor documents angle/velocity as radians and radians/second, but the conversion treats those rows as encoder counts. It also reads final time from raw_traj[1,-1], although time is documented and interpolated from row 0. Reconcile intended input/output units and time indexing before adaptation; these are static source conflicts, not reproduced runtime failures. Its defaults include encoder counts, jump positions and a motor constant explicitly described as approximate. Those are research assumptions to reconcile with a mechanism, not measured properties of the reader's actuator or a demonstrated 200 Hz controller. [2]

The find_odrive method assigns the discovered device to self.odrv0 but its next printed voltage expression refers to self.odrive. This is a static source inconsistency, not an exception reproduced here. Inspect and resolve such API/attribute assumptions against the chosen ODrive version before attempting hardware connection or calibration. No device was searched for or configured. [2]

Separate unfinished hardware and historical setup notes

The README points to ODrive setup/calibration and an Arduino MPU6050 offset procedure using external I2Cdev libraries. That route requires the actual sensor, port, calibration offsets and compatible host/firmware. The selected source does not establish a complete BOM, manufacturing design or commissioning procedure for a new hopper. No IMU, motor, trajectory tracking or hopping was tested. [1]

No root reuse grant was identified in the inspected repository tree/README. This is a source-available research reference; public visibility does not grant permission to redistribute its code or imply that bought-in ODrive hardware is open under the same terms. No physical safety, dynamics accuracy or performance claim was validated. [1] [2]

What we checked

Source/document review only; no build, installation, binary/device/network execution, control commissioning or performance test.

Not yet established

  • Requirements: operating system, host computer
  • Version-specific hardware compatibility (ecosystem tags alone do not establish it)

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Nov 1, 2026
Sources last checked
Nov 1, 2026
Next review
Dec 1, 2026
Reviewed revision
75e91f5

Source files and licenses

Narrow source-available robotics interface or research implementation; gaps in licensing, binary core or physical setup are explicitly separate from the inspectable contribution.

LayerAvailability / license
softwareavailable · License not fully assessed
No complete source reuse grant identified in the selected repository; source visibility is not redistribution permission. Package declarations and third-party rights remain separate. [1] [2] [3]
documentationavailable · License not fully assessed
No complete source reuse grant identified in the selected repository; source visibility is not redistribution permission. Package declarations and third-party rights remain separate. [1] [2] [3]

No separate physical design, pretrained distribution or dataset is selected as the released contribution in this scoped software review.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history