parameters: (
        self,
        robot: Any,
        gait_generator: gait_generator_lib.GaitGenerator,
        state_estimator: state_estimator_lib.StateEstimatorBase,
        swing_leg_controller: leg_controller_lib.LegController,
        stance_leg_controller: leg_controller_lib.LegController,
        clock: Callable[[], float] = None,
    )
docstring: 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.
docstring_summary: Initializes the class.
docstring_tokens: Initializes the class .
function: def __init__(
        self,
        robot: Any,
        gait_generator: gait_generator_lib.GaitGenerator,
        state_estimator: state_estimator_lib.StateEstimatorBase,
        swing_leg_controller: leg_controller_lib.LegController,
        stance_leg_controller: leg_controller_lib.LegController,
        clock: Callable[[], float] = None,
    ):
      """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
      if clock is None:
        self._clock = time.time
      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
function_tokens: def __init__ ( self , robot : Any , gait_generator : gait_generator_lib . GaitGenerator , state_estimator : state_estimator_lib . StateEstimatorBase , swing_leg_controller : leg_controller_lib . LegController , stance_leg_controller : leg_controller_lib . LegController , clock : Callable [ [ ] , float ] = None , ) : self . _robot = robot self . _clock = clock if clock is None : self . _clock = time . time 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