__init__()

None __init__	(		self,
		str	shm_name = "/upkie",
		Optional[Model]	model = None,
		Optional[dict]	spine_config = None
	)

Initialize spine backend.

Parameters

shm_name	Name of shared-memory file to exchange with the spine.
model	Robot model. If None, defaults to the standard Upkie model from upkie_description.
spine_config	Additional spine configuration overriding the defaults. The combined configuration dictionary is sent to the spine at every reset.