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Pink balancer

upkie

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