Hind Leg Component¶

Code author: Jeremy Ernst

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

Bases: artv2.components.biped_leg.BipedLeg

This class defines and creates the hind leg component. The hind leg creates at a minimum, 4 joints: thigh, calf, heel, foot. There are options for 3 twist joints in the upper and lower leg areas as well as ball and toe joints. The ball and toe and there 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 = hind_leg.HindLeg()
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 = hind_leg.HindLeg()
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 = hind_leg.HindLeg()
leg_inst.num_thigh_twists = 2

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