(self, leg_id)
return analytical_leg_jacobian(motor_angles, leg_id)
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."""
    # Does not work for Minitaur which has the four bar mechanism for now.
    motor_angles = self.GetMotorAngles()[leg_id * 3:(leg_id + 1) * 3]
    return analytical_leg_jacobian(motor_angles, leg_id)
def ComputeJacobian ( self , leg_id ) : # Does not work for Minitaur which has the four bar mechanism for now. motor_angles = self . GetMotorAngles ( ) [ leg_id * 3 : ( leg_id + 1 ) * 3 ] return analytical_leg_jacobian ( motor_angles , leg_id )