Backend connected to a simulation or real spine. More...

Public Member Functions
None	__init__ (self, str shm_name="/upkie", Optional[dict] spine_config=None)
	Initialize spine backend. More...

def	__del__ (self)
	Stop the spine properly when destructing the backend instance.

None	close (self)
	Stop the spine properly. More...

dict	reset (self, Optional[RobotState] init_state=None)
	Reset the spine and get an initial observation. More...

dict	step (self, dict action)
	Apply action and step the spine. More...

dict	get_spine_observation (self)

dict	get_bullet_action (self)
	Get the Bullet action that will be applied at next step. More...

None	set_bullet_action (self, dict bullet_action)
	Prepare for the next step an extra action for the Bullet spine. More...

Detailed Description

Backend connected to a simulation or real spine.

Note that the spine backend is made to run on a single CPU thread. This is not a good fit for reinforcement learning, in most cases, but it is convenient for running exactly the same code that will be deployed to the real robot.

The documentation for this class was generated from the following file:

upkie/envs/backends/spine_backend.py

Public Member Functions

Detailed Description