__init__()

None __init__	(		self,
		Backend	backend,
		Optional[float]	frequency,
		bool	frequency_checks,
		Optional[RobotState]	init_state,
		bool	regulate_frequency,
		Optional[Model]	model = None
	)

Initialize environment.

Parameters

backend	Backend for interfacing with a simulator or a spine.
frequency	Regulated frequency of the control loop, in Hz. Can be prescribed even when regulate_frequency is unset, in which case self.dt will be defined but the loop frequency will not be regulated.
frequency_checks	If regulate_frequency is set and this parameter is True, a warning will be issued every time the control loop runs slower than the desired frequency.
init_state	Initial state of the robot, only used in simulation.
model	Robot model. If None, defaults to the standard Upkie model from upkie_description.
regulate_frequency	If set (default), the environment will regulate the control loop frequency to the value prescribed in frequency.

Exceptions

UpkieException

If the configuration is invalid.