Two-wheeled balancing robot prototype in Genesis.

Requirements are managed by uv via pyproject.toml.

uv run python main.py

This opens the Genesis viewer, spawns a ground plane and loads the simple URDF model at assets/urdf/balance_bot.urdf.

• Base: box 0.18 x 0.12 x 0.10 m, 1.2 kg
• Wheels: radius 0.05 m, thickness 0.02 m, 0.1 kg each
• Joints: two continuous joints around Y axis (left_wheel_joint, right_wheel_joint)

The model is intentionally simple and uses primitive geometry so you can iterate quickly. If you have CAD/mesh assets for the chassis or wheels, we can swap the visual/collision geometry to use them.