
class robot_paras:
    def __init__(self):
        self.R = 0.18
        self.L1 = 0.09
        self.L2 = 0.14
        self.L3  = 0.16
        self.L4 = 0.15
        self.r = 0.065
        self.beta = 0
        self.phi = 0