Pink balancer

An agent for Upkie that combines wheeled balancing with inverse kinematics computed by Pink. This is the controller that runs in the first two videos of Upkie.

Usage

• Install Python packages to a conda environment: conda env create -f environment.yaml
• Activate conda environment: conda activate pink_balancer
• Simulation:
  • Run ./start_simulation.sh
  • Run the agent: python run_agent.py
• Real Upkie:
  • Upload this repository to your Upkie: make upload
  • Run the pi3hat spine: pi3hat_spine (on your Upkie)
  • Run the agent: python run_agent.py