(
      self,
      robot: Any,
      gait_generator,
      state_estimator,
      swing_leg_controller,
      stance_leg_controller,
      clock,
  )
Initializes the class.

    Args:
      robot: A robot instance.
      gait_generator: Generates the leg swing/stance pattern.
      state_estimator: Estimates the state of the robot (e.g. center of mass
        position or velocity that may not be observable from sensors).
      swing_leg_controller: Generates motor actions for swing legs.
      stance_leg_controller: Generates motor actions for stance legs.
      clock: A real or fake clock source.
Initializes the class.
Initializes the class .
def __init__(
      self,
      robot: Any,
      gait_generator,
      state_estimator,
      swing_leg_controller,
      stance_leg_controller,
      clock,
  ):
    """Initializes the class.

    Args:
      robot: A robot instance.
      gait_generator: Generates the leg swing/stance pattern.
      state_estimator: Estimates the state of the robot (e.g. center of mass
        position or velocity that may not be observable from sensors).
      swing_leg_controller: Generates motor actions for swing legs.
      stance_leg_controller: Generates motor actions for stance legs.
      clock: A real or fake clock source.
    """
    self._robot = robot
    self._clock = clock
    self._reset_time = self._clock()
    self._time_since_reset = 0
    self._gait_generator = gait_generator
    self._state_estimator = state_estimator
    self._swing_leg_controller = swing_leg_controller
    self._stance_leg_controller = stance_leg_controller
def __init__ ( self , robot : Any , gait_generator , state_estimator , swing_leg_controller , stance_leg_controller , clock , ) : self . _robot = robot self . _clock = clock self . _reset_time = self . _clock ( ) self . _time_since_reset = 0 self . _gait_generator = gait_generator self . _state_estimator = state_estimator self . _swing_leg_controller = swing_leg_controller self . _stance_leg_controller = stance_leg_controller