.. _add_legs:

Build Legs
==========

Now it's time to add legs.

Add Right Legs
--------------

Add Leg 2
+++++++++

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **1_Leg**
   > **3DOF** > **StepPush** > **Daisy_Leg_Right_Para** Component Assembly
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

   .. image:: images/hebi_daisy_hexapod_canvas_add_leg2.png

Connect Leg 2 to HEBI_Hexapod_Chassis
+++++++++++++++++++++++++++++++++++++

#. Left-click **Connect Mode** on the **Mode** toolbar (alternative press :kbd:`Ctrl-2` to activate **Connect Mode**).
#. Left-click the **Daisy_Leg_Right_Para** model's **BaseMount** Connector port.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg2Mount** Connector port.
#. Left-click the **Daisy_Leg_Right_Para** model's **from_master_topic** port.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **to_leg_2_topic** port.
#. Left-click the **Daisy_Leg_Right_Para** model's **to_master_topic** port.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **from_leg_2_topic** port.
#. Left-click the **Daisy_Leg_Right_Para** model's **URDF_Base_Link** port.
#. Then left-click on the **HEBI_Hexapod_Chassis** model's **Leg2_URDF_Mount_Link** port.

   .. image:: images/hebi_daisy_hexapod_canvas_connect_leg2.png

#. Left-click **Edit Mode** on the **Mode** toolbar (alternatively press :kbd:`Ctrl-1` to activate **Edit Mode**).

Set Leg 2 Parameters
++++++++++++++++++++

#. With the **HEBI_Daisy_Hexapod** Component Assembly canvas open,
   right-click on the canvas just below the **HEBI_Hexapod_Chassis** model
   and select :menuselection:`Insert New Reference --> Property`.
#. Name the Property *HEBI_Group*.
#. Set the Property Value to **Leg2**.
#. Connect the **HEBI_Group** Property to the **HEBI_Hexapod_Chassis** model's **HEBI_Group** Parameter port.

#. Add a Property **Leg2_Actuator_HEBI_Mapping_Hip** with a Value of **Leg2/Hip**.
#. Connect the **Leg2_Actuator_HEBI_Mapping_Hip** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Hip** Parameter port.

#. Add a Property **Leg2_Actuator_HEBI_Mapping_Knee** with a Value of **Leg2/Knee**.
#. Connect the **Leg2_Actuator_HEBI_Mapping_Knee** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Knee** Parameter port.

#. Add a Property **Leg2_Actuator_HEBI_Mapping_Ankle** with a Value of **Leg2/Ankle**.
#. Connect the **Leg2_Actuator_HEBI_Mapping_Ankle** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Ankle** Parameter port.

   .. image:: images/hebi_daisy_hexapod_canvas_leg2_parameters.png

Add Leg 4
+++++++++

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **1_Leg**
   > **3DOF** > **StepPush** > **Daisy_Leg_Right_Para** Component Assembly
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Connect Leg 4 to HEBI_Hexapod_Chassis
+++++++++++++++++++++++++++++++++++++

#. Connect the **Daisy_Leg_Right_Para** model's **BaseMount** Connector port to the **HEBI_Hexapod_Chassis** model's **Leg4Mount** Connector port.
#. Connect the **Daisy_Leg_Right_Para** model's **from_master_topic** port to the **HEBI_Hexapod_Chassis** model's **to_leg_4_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **to_master_topic** port to the **HEBI_Hexapod_Chassis** model's **from_leg_4_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **URDF_Base_Link** port to the **HEBI_Hexapod_Chassis** model's **Leg4_URDF_Mount_Link** port.

Set Leg 4 Parameters
++++++++++++++++++++

#. Add a Property **HEBI_Group** with a Value of **Leg4**.
#. Connect the **HEBI_Group** Property to the **HEBI_Hexapod_Chassis** model's **HEBI_Group** Parameter port.

#. Add a Property **Leg4_Actuator_HEBI_Mapping_Hip** with a Value of **Leg4/Hip**.
#. Connect the **Leg4_Actuator_HEBI_Mapping_Hip** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Hip** Parameter port.

#. Add a Property **Leg4_Actuator_HEBI_Mapping_Knee** with a Value of **Leg4/Knee**.
#. Connect the **Leg4_Actuator_HEBI_Mapping_Knee** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Knee** Parameter port.

#. Add a Property **Leg4_Actuator_HEBI_Mapping_Ankle** with a Value of **Leg4/Ankle**.
#. Connect the **Leg4_Actuator_HEBI_Mapping_Ankle** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Ankle** Parameter port.

   .. image:: images/hebi_daisy_hexapod_canvas_leg4.png

Add Leg 6
+++++++++

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **1_Leg** > **3DOF** > **StepPush** > **Daisy_Leg_Right_Para** Component Assembly and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click and select :menuselection:`Paste Special --> As Reference`.

Connect Leg 6 to HEBI_Hexapod_Chassis
+++++++++++++++++++++++++++++++++++++

#. Connect the **Daisy_Leg_Right_Para** model's **BaseMount** Connector port to the **HEBI_Hexapod_Chassis** model's **Leg6Mount** Connector port.
#. Connect the **Daisy_Leg_Right_Para** model's **from_master_topic** port to the **HEBI_Hexapod_Chassis** model's **to_leg_6_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **to_master_topic** port to the **HEBI_Hexapod_Chassis** model's **from_leg_6_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **URDF_Base_Link** port to the **HEBI_Hexapod_Chassis** model's **Leg6_URDF_Mount_Link** port.

Set Leg 6 Parameters
++++++++++++++++++++

#. Add a Property **HEBI_Group** with a Value of **Leg6**.
#. Connect the **HEBI_Group** Property to the **HEBI_Hexapod_Chassis** model's **HEBI_Group** Parameter port.

#. Add a Property **Leg6_Actuator_HEBI_Mapping_Hip** with a Value of **Leg6/Hip**.
#. Connect the **Leg6_Actuator_HEBI_Mapping_Hip** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Hip** Parameter port.

#. Add a Property **Leg6_Actuator_HEBI_Mapping_Knee** with a Value of **Leg6/Knee**.
#. Connect the **Leg6_Actuator_HEBI_Mapping_Knee** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Knee** Parameter port.

#. Add a Property **Leg6_Actuator_HEBI_Mapping_Ankle** with a Value of **Leg6/Ankle**.
#. Connect the **Leg6_Actuator_HEBI_Mapping_Ankle** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Ankle** Parameter port.

   .. image:: images/hebi_daisy_hexapod_canvas_leg6.png

Add Left Legs
-------------

Add Leg 1
+++++++++

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **1_Leg**
   > **3DOF** > **StepPush** > **Daisy_Leg_Right_Para** Component Assembly
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Connect Leg 1 to HEBI_Hexapod_Chassis
+++++++++++++++++++++++++++++++++++++

#. Connect the **Daisy_Leg_Right_Para** model's **BaseMount** Connector port to the **HEBI_Hexapod_Chassis** model's **Leg1Mount** Connector port.
#. Connect the **Daisy_Leg_Right_Para** model's **from_master_topic** port to the **HEBI_Hexapod_Chassis** model's **to_leg_1_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **to_master_topic** port to the **HEBI_Hexapod_Chassis** model's **from_leg_1_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **URDF_Base_Link** port to the **HEBI_Hexapod_Chassis** model's **Leg1_URDF_Mount_Link** port.

Set Leg 1 Parameters
++++++++++++++++++++

#. Add a Property **HEBI_Group** with a Value of **Leg1**.
#. Connect the **HEBI_Group** Property to the **HEBI_Hexapod_Chassis** model's **HEBI_Group** Parameter port.

#. Add a Property **Leg1_Actuator_HEBI_Mapping_Hip** with a Value of **Leg1/Hip**.
#. Connect the **Leg1_Actuator_HEBI_Mapping_Hip** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Hip** Parameter port.

#. Add a Property **Leg1_Actuator_HEBI_Mapping_Knee** with a Value of **Leg1/Knee**.
#. Connect the **Leg1_Actuator_HEBI_Mapping_Knee** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Knee** Parameter port.

#. Add a Property **Leg1_Actuator_HEBI_Mapping_Ankle** with a Value of **Leg1/Ankle**.
#. Connect the **Leg1_Actuator_HEBI_Mapping_Ankle** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Ankle** Parameter port.

   .. image:: images/hebi_daisy_hexapod_canvas_leg1.png

Add Leg 3
+++++++++

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **1_Leg**
   > **3DOF** > **StepPush** > **Daisy_Leg_Right_Para** Component Assembly
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Connect Leg 3 to HEBI_Hexapod_Chassis
+++++++++++++++++++++++++++++++++++++

#. Connect the **Daisy_Leg_Right_Para** model's **BaseMount** Connector port to the **HEBI_Hexapod_Chassis** model's **Leg3Mount** Connector port.
#. Connect the **Daisy_Leg_Right_Para** model's **from_master_topic** port to the **HEBI_Hexapod_Chassis** model's **to_leg_3_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **to_master_topic** port to the **HEBI_Hexapod_Chassis** model's **from_leg_3_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **URDF_Base_Link** port to the **HEBI_Hexapod_Chassis** model's **Leg3_URDF_Mount_Link** port.

Set Leg 3 Parameters
++++++++++++++++++++

#. Add a Property **HEBI_Group** with a Value of **Leg3**.
#. Connect the **HEBI_Group** Property to the **HEBI_Hexapod_Chassis** model's **HEBI_Group** Parameter port.

#. Add a Property **Leg3_Actuator_HEBI_Mapping_Hip** with a Value of **Leg3/Hip**.
#. Connect the **Leg3_Actuator_HEBI_Mapping_Hip** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Hip** Parameter port.

#. Add a Property **Leg3_Actuator_HEBI_Mapping_Knee** with a Value of **Leg3/Knee**.
#. Connect the **Leg3_Actuator_HEBI_Mapping_Knee** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Knee** Parameter port.

#. Add a Property **Leg3_Actuator_HEBI_Mapping_Ankle** with a Value of **Leg3/Ankle**.
#. Connect the **Leg3_Actuator_HEBI_Mapping_Ankle** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Ankle** Parameter port.

   .. image:: images/hebi_daisy_hexapod_canvas_leg3.png

Add Leg 5
+++++++++

#. Locate the **GME Browser window**.
#. Right-click on the **RootFolder** > **B_SubSystems** > **2_Locomotion** > **1_Leg**
   > **3DOF** > **StepPush** > **Daisy_Leg_Right_Para** Component Assembly
   and select :menuselection:`Copy`.
#. Inside the **HEBI_Daisy_Hexapod** Component Assembly canvas, right-click
   and select :menuselection:`Paste Special --> As Reference`.

Connect Leg 5 to HEBI_Hexapod_Chassis
+++++++++++++++++++++++++++++++++++++

#. Connect the **Daisy_Leg_Right_Para** model's **BaseMount** Connector port to the **HEBI_Hexapod_Chassis** model's **Leg5Mount** Connector port.
#. Connect the **Daisy_Leg_Right_Para** model's **from_master_topic** port to the **HEBI_Hexapod_Chassis** model's **to_leg_5_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **to_master_topic** port to the **HEBI_Hexapod_Chassis** model's **from_leg_5_topic** port.
#. Connect the **Daisy_Leg_Right_Para** model's **URDF_Base_Link** port to the **HEBI_Hexapod_Chassis** model's **Leg5_URDF_Mount_Link** port.

Set Leg 5 Parameters
++++++++++++++++++++

#. Add a Property **HEBI_Group** with a Value of **Leg5**.
#. Connect the **HEBI_Group** Property to the **HEBI_Hexapod_Chassis** model's **HEBI_Group** Parameter port.

#. Add a Property **Leg5_Actuator_HEBI_Mapping_Hip** with a Value of **Leg5/Hip**.
#. Connect the **Leg5_Actuator_HEBI_Mapping_Hip** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Hip** Parameter port.

#. Add a Property **Leg5_Actuator_HEBI_Mapping_Knee** with a Value of **Leg5/Knee**.
#. Connect the **Leg5_Actuator_HEBI_Mapping_Knee** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Knee** Parameter port.

#. Add a Property **Leg5_Actuator_HEBI_Mapping_Ankle** with a Value of **Leg5/Ankle**.
#. Connect the **Leg5_Actuator_HEBI_Mapping_Ankle** Property to the **HEBI_Hexapod_Chassis** model's **ACTUATOR_HEBI_Mapping_Ankle** Parameter port.

   .. image:: images/hebi_daisy_hexapod_canvas_leg5.png

   .. image:: images/creo_preview_4.png