(self, leg_id)
return super(Laikago, self).ComputeJacobian(leg_id)[(2, 0, 1), :]
Compute the Jacobian for a given leg.
Compute the Jacobian for a given leg.
Compute the Jacobian for a given leg .
def ComputeJacobian(self, leg_id):
    """Compute the Jacobian for a given leg."""
    # Because of the default rotation in the Laikago URDF, we need to reorder
    # the rows in the Jacobian matrix.
    return super(Laikago, self).ComputeJacobian(leg_id)[(2, 0, 1), :]
def ComputeJacobian ( self , leg_id ) : # Because of the default rotation in the Laikago URDF, we need to reorder # the rows in the Jacobian matrix. return super ( Laikago , self ) . ComputeJacobian ( leg_id ) [ ( 2 , 0 , 1 ) , : ]