(self)
return self._desired_leg_state
The desired leg SWING/STANCE states.

    Returns:
      The SWING/STANCE states for all legs.
The desired leg SWING/STANCE states.
The desired leg SWING / STANCE states .
def desired_leg_state(self) -> Sequence[gait_generator.LegState]:
    """The desired leg SWING/STANCE states.

    Returns:
      The SWING/STANCE states for all legs.

    """
    return self._desired_leg_state
def desired_leg_state ( self ) -> Sequence [ gait_generator . LegState ] : return self . _desired_leg_state