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  <div class="section" id="bipedal-leg-component">
<h1>Bipedal Leg Component<a class="headerlink" href="#bipedal-leg-component" title="Permalink to this headline">¶</a></h1>
<p><em>Code author: Jeremy Ernst</em></p>
<dl class="class">
<dt id="artv2.components.biped_leg.BipedLeg">
<em class="property">class </em><code class="descname">BipedLeg</code><span class="sig-paren">(</span><em>prefix=''</em>, <em>suffix=''</em>, <em>network_node=None</em>, <em>side='Left'</em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/artv2/components/biped_leg.html#BipedLeg"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#artv2.components.biped_leg.BipedLeg" title="Permalink to this definition">¶</a></dt>
<dd><p>Bases: <a class="reference internal" href="component_base.html#artv2.components.base_components.base_component.ART_Component" title="artv2.components.base_components.base_component.ART_Component"><code class="xref py py-class docutils literal notranslate"><span class="pre">artv2.components.base_components.base_component.ART_Component</span></code></a></p>
<p>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).</p>
<dl class="attribute">
<dt id="artv2.components.biped_leg.BipedLeg.has_ball_joint">
<code class="descname">has_ball_joint</code><a class="headerlink" href="#artv2.components.biped_leg.BipedLeg.has_ball_joint" title="Permalink to this definition">¶</a></dt>
<dd><p>This property holds a boolean value on whether or not a ball joint will be included in the setup.</p>
<dl class="docutils">
<dt>example usage:</dt>
<dd><div class="first last highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">leg_inst</span> <span class="o">=</span> <span class="n">biped_leg</span><span class="o">.</span><span class="n">BipedLeg</span><span class="p">()</span>
<span class="n">leg_inst</span><span class="o">.</span><span class="n">has_ball_joint</span> <span class="o">=</span> <span class="bp">False</span>
</pre></div>
</div>
</dd>
</dl>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Returns:</th><td class="field-body">bool</td>
</tr>
</tbody>
</table>
</dd></dl>

<dl class="attribute">
<dt id="artv2.components.biped_leg.BipedLeg.num_calf_twists">
<code class="descname">num_calf_twists</code><a class="headerlink" href="#artv2.components.biped_leg.BipedLeg.num_calf_twists" title="Permalink to this definition">¶</a></dt>
<dd><p>This property holds the number (int) of calf twist joints that the module will create or has.</p>
<dl class="docutils">
<dt>example usage:</dt>
<dd><div class="first last highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">leg_inst</span> <span class="o">=</span> <span class="n">biped_leg</span><span class="o">.</span><span class="n">BipedLeg</span><span class="p">()</span>
<span class="n">leg_inst</span><span class="o">.</span><span class="n">num_calf_twists</span> <span class="o">=</span> <span class="mi">2</span>
</pre></div>
</div>
</dd>
</dl>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Returns:</th><td class="field-body">Number of calf twist joints the module has.</td>
</tr>
<tr class="field-even field"><th class="field-name">Return type:</th><td class="field-body">int</td>
</tr>
</tbody>
</table>
</dd></dl>

<dl class="attribute">
<dt id="artv2.components.biped_leg.BipedLeg.num_thigh_twists">
<code class="descname">num_thigh_twists</code><a class="headerlink" href="#artv2.components.biped_leg.BipedLeg.num_thigh_twists" title="Permalink to this definition">¶</a></dt>
<dd><p>This property holds the number (int) of thigh twist joints that the module will create or has.</p>
<dl class="docutils">
<dt>example usage:</dt>
<dd><div class="first last highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">leg_inst</span> <span class="o">=</span> <span class="n">biped_leg</span><span class="o">.</span><span class="n">BipedLeg</span><span class="p">()</span>
<span class="n">leg_inst</span><span class="o">.</span><span class="n">num_thigh_twists</span> <span class="o">=</span> <span class="mi">2</span>
</pre></div>
</div>
</dd>
</dl>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Returns:</th><td class="field-body">Number of thigh twist joints the module has.</td>
</tr>
<tr class="field-even field"><th class="field-name">Return type:</th><td class="field-body">int</td>
</tr>
</tbody>
</table>
</dd></dl>

</dd></dl>

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