Environments

Upkie has environments compatible with the Gymnasium API:

• UpkieBaseEnv: base class for all Upkie environments.
  • UpkieGroundVelocity: behave like a wheeled inverted pendulum.
  • UpkieServos: action and observation correspond to the full servo API.
    • UpkieServoPositions: joint position control only.
    • UpkieServoTorques: joint torque control only.

While each environment has its own observation and action spaces, all of them also report full spine observations in their info dictionaries.