__init__()

def __init__	(		self,
		UpkieEnv	env,
		float	fall_pitch = 1.0,
		bool	left_wheeled = True,
		float	max_ground_velocity = 1.0
	)

Initialize environment.

Parameters

env	Upkie environment to command servomotors.
fall_pitch	Fall detection pitch angle, in radians.
left_wheeled	Set to True (default) if the robot is left wheeled, that is, a positive turn of the left wheel results in forward motion. Set to False for a right-wheeled variant.
max_ground_velocity	Maximum commanded ground velocity in m/s. The default value of 1 m/s is conservative, don't hesitate to increase it once you feel confident in your agent.