Towards Better Athletic Intelligence

This repository contains implementations of core algorithms used in the tbai ecosystems. For deployment and use with specific robotics frameworks, including ROS and ROS2, thin wrapper repositories are available: tbai_ros and tbai_ros2

• tbai_ros - a ROS-noetic wrapper around tbai, uses pixi for dependency management, so no worries that ROS is past its end of life :) - works on many Ubuntu releases, including Ubuntu 24.04
• tbai_ros2 - a ROS2-jazzy wrapper around tbai, uses pixi for dependency management - works on many Ubuntu releases, including Ubuntu 20.04, Ubuntu 22.04 and Ubuntu 24.04

Install tbai

pixi install && pixi shell
cmake -Bbuild -DCMAKE_BUILD_TYPE=Release
cmake --build build --parallel 10

Tbai as a framework

Environment Variables used throughout tbai

Environment Variable	Type	Default	Description	Usage
TBAI_LOG_LEVEL	string	"info"	Logging level	Log verbosity. Values: "trace", "debug", "info", "warn", "error", "critical"
TBAI_LOG_FOLDER	string	"" (empty)	Log file directory. No file logging if empty	Logs saved here if set
TBAI_LOG_TO_CONSOLE	bool	true	Log to console	Show logs in terminal
TBAI_GLOBAL_CONFIG_PATH	string	Required	Global config file path	Main YAML config file
TBAI_ROBOT_DESCRIPTION_PATH	string	Required	Robot URDF path	Robot model file
TBAI_CACHE_DIR	string	"/tmp/tbai_hf_cache"	Model cache directory	For downloaded models

Credits

This project stands on the shoulders of giants. None of this would have been possible were it not for the many amazing open-source projects here on Github. Please, navigate to CREDITS to see a non-exhaustive list of repositories and links most inspiration was drawn from that have been instrumental during tbai's development.

Thank you all 🤗