__init__()

def __init__	(		self,
		UpkieServos	servos_env,
		float	fall_pitch = 1.0,
		float	leg_gain_scale = 1.0,
		float	max_ground_velocity = 3.0,
		float	max_yaw_velocity = 1.0
	)

Initialize environment.

Parameters

servos_env	Upkie environment to command servomotors.
fall_pitch	Fall detection pitch angle, in radians.
leg_gain_scale	Gain scale applied to upper leg kp_scale and kd_scale servo parameters.
max_ground_velocity	Maximum commanded ground velocity in m/s.
max_yaw_velocity	Maximum commanded yaw velocity in rad/s.