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.

Installation

On your machine

conda env create -f environment.yaml
conda activate ppo_balancer

On your Upkie

The PPO balancer uses pixi and pixi-pack to pack a standalone Python environment to run policies on your Upkie. First, create environment.tar and upload it by:

make pack_pixi_env
make upload

Then, unpack the remote environment:

$ 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:

make run_agent

Gamepad commands

Once the agent is running, you can direct your Upkie using the game controller 🎮

• Left joystick: go forward right backward
• Right joystick: turn left or right
• Directional pad: down to crouch, up to stand up
• Right button: (B on an Xbox controller, red circle on a PS4 controller) emergency stop 🚨 all motors will turn off