parameters: (robot_class)
return_statement: return init_pose
docstring: 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.
docstring_summary: Return a neutral (standing) pose for a given robot type.
docstring_tokens: Return a neutral ( standing ) pose for a given robot type .
function: 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) in [
        str(minitaur_v2.Minitaur)
    ]:
      init_pose = minitaur_pose_utils.leg_pose_to_motor_angles(
          np.array(
              attr.astuple(
                  minitaur_pose_utils.MinitaurPose(
                      swing_angle_0=_MINITAUR_DEFAULT_SWING_POS,
                      swing_angle_1=_MINITAUR_DEFAULT_SWING_POS,
                      swing_angle_2=_MINITAUR_DEFAULT_SWING_POS,
                      swing_angle_3=_MINITAUR_DEFAULT_SWING_POS,
                      extension_angle_0=_MINITAUR_DEFAULT_EXTENSION_POS,
                      extension_angle_1=_MINITAUR_DEFAULT_EXTENSION_POS,
                      extension_angle_2=_MINITAUR_DEFAULT_EXTENSION_POS,
                      extension_angle_3=_MINITAUR_DEFAULT_EXTENSION_POS))))
    elif str(robot_class) in [
        str(laikago.Laikago),
        str(laikago_v2.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)))
    elif str(robot_class) == str(mini_cheetah.MiniCheetah):
      init_pose = np.array(
          attr.astuple(
              mini_cheetah_pose_utils.MiniCheetahPose(
                  abduction_angle_0=0,
                  hip_angle_0=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
                  knee_angle_0=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE,
                  abduction_angle_1=0,
                  hip_angle_1=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
                  knee_angle_1=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE,
                  abduction_angle_2=0,
                  hip_angle_2=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
                  knee_angle_2=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE,
                  abduction_angle_3=0,
                  hip_angle_3=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
                  knee_angle_3=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE)))
    else:
      init_pose = robot_class.get_neutral_motor_angles()
    return init_pose
function_tokens: def get_neutral_motor_angles ( robot_class ) : if str ( robot_class ) in [ str ( minitaur_v2 . Minitaur ) ] : init_pose = minitaur_pose_utils . leg_pose_to_motor_angles ( np . array ( attr . astuple ( minitaur_pose_utils . MinitaurPose ( swing_angle_0 = _MINITAUR_DEFAULT_SWING_POS , swing_angle_1 = _MINITAUR_DEFAULT_SWING_POS , swing_angle_2 = _MINITAUR_DEFAULT_SWING_POS , swing_angle_3 = _MINITAUR_DEFAULT_SWING_POS , extension_angle_0 = _MINITAUR_DEFAULT_EXTENSION_POS , extension_angle_1 = _MINITAUR_DEFAULT_EXTENSION_POS , extension_angle_2 = _MINITAUR_DEFAULT_EXTENSION_POS , extension_angle_3 = _MINITAUR_DEFAULT_EXTENSION_POS ) ) ) ) elif str ( robot_class ) in [ str ( laikago . Laikago ) , str ( laikago_v2 . 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 ) ) ) elif str ( robot_class ) == str ( mini_cheetah . MiniCheetah ) : init_pose = np . array ( attr . astuple ( mini_cheetah_pose_utils . MiniCheetahPose ( abduction_angle_0 = 0 , hip_angle_0 = _MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE , knee_angle_0 = _MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE , abduction_angle_1 = 0 , hip_angle_1 = _MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE , knee_angle_1 = _MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE , abduction_angle_2 = 0 , hip_angle_2 = _MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE , knee_angle_2 = _MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE , abduction_angle_3 = 0 , hip_angle_3 = _MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE , knee_angle_3 = _MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE ) ) ) else : init_pose = robot_class . get_neutral_motor_angles ( ) return init_pose