https://github.com/upkie/pink_balancer

Upkie agent that can balance and crouch
https://github.com/upkie/pink_balancer

inverse-kinematics legged-robots locomotion pid-control python robotics wheeled-biped

Last synced: about 1 month ago
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Upkie agent that can balance and crouch

• Host: GitHub
• URL: https://github.com/upkie/pink_balancer
• Owner: upkie
• License: apache-2.0
• Created: 2024-01-08T15:55:33.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-12-19T09:04:27.000Z (about 2 months ago)
• Last Synced: 2025-01-03T12:17:09.770Z (about 1 month ago)
• Topics: inverse-kinematics, legged-robots, locomotion, pid-control, python, robotics, wheeled-biped
• Language: Python
• Homepage:
• Size: 141 KB
• Stars: 0
• Watchers: 2
• Forks: 1
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Pink balancer

[![upkie](https://img.shields.io/badge/upkie-6.0.0-salmon)](https://github.com/upkie/upkie/tree/v6.0.0)

An agent for [Upkie](https://github.com/upkie/upkie/) that combines wheeled balancing with inverse kinematics computed by [Pink](https://github.com/stephane-caron/pink). This is the controller that runs in the [first](https://www.youtube.com/shorts/8b36XcCgh7s) [two](https://www.youtube.com/watch?v=NO_TkHGS0wQ) videos of Upkie.

## Installation

### On your machine

```console

conda env create -f environment.yaml

conda activate ppo_balancer

```

### On your Upkie

The PPO balancer uses [pixi](https://pixi.sh/latest/#installation) and [pixi-pack](https://github.com/Quantco/pixi-pack/releases) to pack a standalone Python environment to run policies on your Upkie. First, create `environment.tar` and upload it by:

```console

make pack_pixi_env

make upload

```

Then, unpack the remote environment:

```console

$ ssh user@your-upkie

user@your-upkie:~$ cd ppo_balancer

user@your-upkie:ppo_balancer$ make unpack_pixi_env

```

## Usage

Start the simulation or pi3hat spine, then run:

```console

make run_agent

```