__init__()

None __init__	(		self,
		float	dt,
		Optional[dict]	bullet_config = None,
		bool	gui = True,
		str	js_path = "/dev/input/js0",
		Optional[int]	nb_substeps = None
	)

Initialize PyBullet backend.

Parameters

dt	Simulation time step in seconds.
bullet_config	Additional bullet configuration overriding the default upkie.config.BULLET_CONFIG. The combined configuration dictionary is used for PyBullet simulation setup.
gui	If True, run PyBullet with GUI. If False, run headless.
js_path	Path to joystick device. Defaults to "/dev/input/js0".
nb_substeps	Number of substeps for the PyBullet simulation.