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Template to create new agents and spines for Upkies

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New agent template

upkie

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, as done for instance in the MPC and Pink balancers.

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 env 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