This template repository makes it easier to create new agents for Upkie wheeled bipeds.

Getting started

1. Create a new repository from this template.
2. Search for the string "TODO: set project name" and update files accordingly
3. Replace LICENSE with the license of your choice (the default one is Apache-2.0)
4. Implement your agent in the agent directory.
5. Optional: customize your C++ spines in the spines directory.

Installation

You can install and keep track of your dependencies using the Conda environment file (for instance using Micromamba):

conda create -f environment.yaml

Alternatively, you can install the interface for Upkie from PyPI by pip install upkie and develop your agent in your local Python environment.

Usage

Run your agent directly as a Python script:

$ python ./agent/agent.py

Use the Makefile to start a simulation using your custom Bullet spine:

$ make simulate

The Makefile includes other rules to cross-compile and upload your spine and agent to the robot. Run make help for a list of available rules.