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 balancer.
- Create a new repository from this template
- Search for the string "TODO" and update files accordingly
- Replace
LICENSEwith the license of your choice (the default one is Apache-2.0) - Start listing your dependencies in
environment.yaml - Rename and start implement your agent from
agent.py - Implement your C++ spines in the
spinesdirectory
- Install Python packages to a conda environment:
conda env create -f environment.yaml -n your_agent_name - Activate conda environment:
conda activate your_agent_name - Build and run the custom simulation spine:
make run_bullet_spine - Build the custom pi3hat spine:
make build - Upload the working directory to the robot:
make upload - Run the pi3hat spine on the robot:
make run_pi3hat_spine - Run your agent on the robot:
python agent.py