(robot_class)
return init_pose
Return a neutral (standing) pose for a given robot type.

  Args:
    robot_class: This returns the class (not the instance) for the robot.
      Currently it supports minitaur, laikago and mini-cheetah.

  Returns:
    Pose object for the given robot. It's either MinitaurPose, LaikagoPose or
    MiniCheetahPose.

  Raises:
    ValueError: If the given robot_class is different than the supported robots.
Return a neutral (standing) pose for a given robot type.
Return a neutral ( standing ) pose for a given robot type .
def get_neutral_motor_angles(robot_class):
  """Return a neutral (standing) pose for a given robot type.

  Args:
    robot_class: This returns the class (not the instance) for the robot.
      Currently it supports minitaur, laikago and mini-cheetah.

  Returns:
    Pose object for the given robot. It's either MinitaurPose, LaikagoPose or
    MiniCheetahPose.

  Raises:
    ValueError: If the given robot_class is different than the supported robots.
  """
  if str(robot_class) == str(laikago.Laikago):
    init_pose = np.array(
        attr.astuple(
            laikago_pose_utils.LaikagoPose(
                abduction_angle_0=0,
                hip_angle_0=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
                knee_angle_0=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
                abduction_angle_1=0,
                hip_angle_1=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
                knee_angle_1=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
                abduction_angle_2=0,
                hip_angle_2=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
                knee_angle_2=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
                abduction_angle_3=0,
                hip_angle_3=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
                knee_angle_3=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE)))
  else:
    init_pose = robot_class.get_neutral_motor_angles()
  return init_pose
def get_neutral_motor_angles ( robot_class ) : if str ( robot_class ) == str ( laikago . Laikago ) : init_pose = np . array ( attr . astuple ( laikago_pose_utils . LaikagoPose ( abduction_angle_0 = 0 , hip_angle_0 = _LAIKAGO_NEUTRAL_POSE_HIP_ANGLE , knee_angle_0 = _LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE , abduction_angle_1 = 0 , hip_angle_1 = _LAIKAGO_NEUTRAL_POSE_HIP_ANGLE , knee_angle_1 = _LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE , abduction_angle_2 = 0 , hip_angle_2 = _LAIKAGO_NEUTRAL_POSE_HIP_ANGLE , knee_angle_2 = _LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE , abduction_angle_3 = 0 , hip_angle_3 = _LAIKAGO_NEUTRAL_POSE_HIP_ANGLE , knee_angle_3 = _LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE ) ) ) else : init_pose = robot_class . get_neutral_motor_angles ( ) return init_pose