Template repository to create new agents with custom spines for Upkie wheeled bipeds.

If you don't need a custom spine, you can implement your agent in Python directly. Check out the MPC or Pink balancers for instance.

Getting started

1. Create a new repository from this template
2. Search for the string "TODO" and update files accordingly
3. Replace LICENSE with the license of your choice (the default one is Apache-2.0)
4. Start listing your dependencies in environment.yaml
5. Rename and start implement your agent from agent.py
6. Implement your C++ spines in the spines directory

Usage

• Install Python packages to a conda environment: conda create -f environment.yaml
• Activate conda environment: conda activate <env_name>
• Run the simulation spine: make run_bullet_spine
• Build the pi3hat spine locally: make build
• Upload the full repository (with built spines) to the robot: make upload
• Run the pi3hat spine: make run_pi3hat_spine (on robot)
• Run your agent: python agent.py