# pink_balancer

**Repository Path**: moondown/pink_balancer

## Basic Information

- **Project Name**: pink_balancer
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-03-13
- **Last Updated**: 2025-03-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Pink balancer

[![upkie](https://img.shields.io/badge/upkie-6.1.0-salmon)](https://github.com/upkie/upkie/tree/v6.1.0)

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
```