__init__()

None __init__	(		self,
		float	dt,
		bool	gui = True,
		float	inertia_variation = 0.0,
		Optional[Dict[str, JointProperties]]	joint_properties = None,
		str	js_path = "/dev/input/js0",
		Optional[Model]	model = None,
		Optional[int]	nb_substeps = None,
		float	torque_control_kd = 1.0,
		float	torque_control_kp = 20.0
	)

Initialize PyBullet backend.

Parameters

dt	Simulation time step in seconds.
gui	If True, run PyBullet with GUI. If False, run headless.
inertia_variation	Relative variation for domain randomization of link masses and inertias. Zero means no randomization.
joint_properties	Per-joint simulation properties. Dictionary mapping joint names to upkie.model.joint_properties.JointProperties instances.
js_path	Path to joystick device. Defaults to "/dev/input/js0".
model	Robot model. If None, defaults to the standard Upkie model from upkie_description.
nb_substeps	Number of substeps for the PyBullet simulation.
torque_control_kd	Derivative gain for torque control.
torque_control_kp	Proportional gain for torque control.