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This site summarizes different applications and tools develeoped by the Robotics Group during their researches.

ROS Tools


YASMIN ((Yet Another State MachINe) is a tool developed to easy the implementation robot behaviors using Finite State Machines (FSM). It is available for ROS 2, Python and C++



KANT is a ROS 2 tool to manage PDDL-based knowledge from Python and C++ code. It is based on several software design patterns (DTO, DAO, Factory).



llama-ROS is a set of ROS 2 packages to integrate llama.cpp into ROS 2. By using the llama_ros packages, you can easily incorporate the powerful optimization capabilities of llama.cpp into your ROS 2 projects by running GGUF-based LLMs and VLMs.

llama-ROS GitHub repository:


MERLIN 2 (MachinEd Ros pLanINg) is the cognitive architecture



whisper_ROS provides a set of ROS 2 packages to integrate whisper.cpp into ROS 2 using audio_common. Besides, silero-vad is used to perform VAD (Voice Activity Detection).

whisper-ROS GitHub repository:


Symbolic AnchorIng from perceptuaL data for rOs2-based Robots

GitHub repository:

Other Tools

The mains tools are available in our GitHub:

GitHub Robotics Group

Currently the following tools are available:

Laboratorio de simulación robótica

El objetivo de esta herramienta es acercar a aquel que lo desee el mundo de la robótica y la posibilidad de interactuar con un robot real. Con el registro en la herramienta podrás tener acceso a varios servicios, como son:

  • Acceso al laboratorio de simulación robótica a través de una interfaz web.
  • Acceso a una máquina a través de SSH en la que podrás almacenar la información de tus prácticas y pruebas.
  • Posibilidad de publicar dudas a través del foro de esta misma página.

Go to laboratorio de simulación robótica


SUFFER is a cloud-based platform that provides fully working robotic workspaces that are accesseded using nothing more than a browser.

You can access SUFFER in Mumalabs

PeTra (People Tracker)

PeTra is a tool which allows detecting and tracking people. The system is based on a CNN that uses an occupancy map constructed from the readings of a LIDAR sensor.


BRITTANY (Biometric RecognITion Through gAit aNalYsis)

Brittany is a tool which allows a Biometric recognition through gait analysis by using LIDAR sensors. The system is based on a classification neural network which allow identify 5 diferent users of the system or intruders in it.

DOROTHEA (DOcker-based fRamework fOr gaTHering nEtflow trAffic)

DOROTHEA is a Docker-based solution to build packet flow datasets. It uses a NetFlow sensor which collects the streams of packets that pass through a network interface. The tool simulates a complex and realistic computer network. It is easily configurable and scalable, for instance it is possible to set the number of computers that generate network traffic. A threshold can be set to define the number of packets used to create flows, thus emulating the real functionality of routers.

More information at

MoEv (Model Evaluator)

MoEv is a general-purpose tool that allows for building classification models from labeled datasets. Besides, MoEv allows for performing data cleaning and pre-processing operations. It has been successfully used in different research areas such us jamming attacks detection on real-time location systems, academic success prediction at educational institutions, or network attacks detection.

More information at

Restricted Tools and Applications

We advocate for the development of secure and well-tested applications. Therefore, we have a set of tools and systems to make these tasks easier and the code better.


The group has a private Gitlab with access to:

  • Privates Docker registries per repository.
  • Gitlab Pipelines to automate the compilation and testing of the code.
  • Docker support


This CI system allow us to prepare pipelines to automate all the process from compiling to deployment.


This tool provides detailed and extensive information about the quality of the code


Universal repository to store all the libraries we need.


A pre-production Docker system to deploy and test every containerized application with all the computational resources you need.