Bullet spine

The Bullet spine runs agents in the Bullet 3 simulator. It can be started as a standalone process that will keep on running while waiting for agents to connect.

The easiest way to start a simulation spine is to run the simulation script from the repository:

./start_simulation.sh

The script will run pre-compiled binaries, downloading them from the latest release if necessary.

Building from source

To build and run the simulation spine from source, setup your build environment, then run the following Bazel command:

./tools/bazelisk run //spines:bullet_spine -- --show

Bazel is the build system used in Upkie for spines. You can check out simulation options by appending the help flag -h to the above command.