(self)
return self._leg_state
The leg state after considering contact with ground.

    Returns:
      The actual state of each leg after accounting for contacts.
The leg state after considering contact with ground.
The leg state after considering contact with ground .
def leg_state(self) -> Sequence[gait_generator.LegState]:
    """The leg state after considering contact with ground.

    Returns:
      The actual state of each leg after accounting for contacts.
    """
    return self._leg_state
def leg_state ( self ) -> Sequence [ gait_generator . LegState ] : return self . _leg_state