Bipedal Leg Component¶

Code author: Jeremy Ernst

class BipedLeg(prefix='', suffix='', network_node=None, side='Left')[source]¶

Bases: artv2.components.base_components.base_component.ART_Component

This class defines and creates a bipedal leg component. The biped leg component consists of at minimum, 4 joints: the thigh, calf, foot, and ball. There are also options for 3 twist joints in the upper and lower leg areas as well as having a ball and toe joint (which it does by default).

has_ball_joint¶

This property holds a boolean value on whether or not a ball joint will be included in the setup.

example usage:

leg_inst = biped_leg.BipedLeg()
leg_inst.has_ball_joint = False

Returns:	bool

num_calf_twists¶

This property holds the number (int) of calf twist joints that the module will create or has.

example usage:

leg_inst = biped_leg.BipedLeg()
leg_inst.num_calf_twists = 2

Returns:	Number of calf twist joints the module has.
Return type:	int

num_thigh_twists¶

This property holds the number (int) of thigh twist joints that the module will create or has.

example usage:

leg_inst = biped_leg.BipedLeg()
leg_inst.num_thigh_twists = 2

Returns:	Number of thigh twist joints the module has.
Return type:	int