FLEX-SPOT

This repository houses the code for the flex impleemntation on the BD SPOT Robot. Please contact Shivam Goel (shivam.goel@tufts.edu) for any queries.

• sim/: Simulated training environments for force policy learning using PyBullet.
• robot/: Execution interface to deploy trained policies on Spot using its SDK.

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Project Structure

flex_spot/
├── sim/             # PyBullet environments and TD3 training
├── robot/           # Spot robot policy execution interface

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Getting Started

1. Train in Simulation

cd sim
python train_new.py

2. Deploy on Spot

cd robot
python control_robot.py --ip <ROBOT_IP>

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Requirements

• Python 3.8+
• Additional dependencies listed in each directory's requirements file

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License

MIT License