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.
- Install Python packages to a conda environment:
conda create -f environment.yaml - Activate conda environment:
conda activate pink_balancer - Run the Bullet spine:
./start_simulation.sh(from your Upkie repository) - Run the agent with Bullet:
python pink_balancer/main.py -c bullet - Upload this repository to your Upkie:
make upload - Run the pi3hat spine:
pi3hat_spine(on your robot) - Run the agent:
python pink_balancer/main.py -c $(hostname)