(self, leg_id)
return self.compute_jacobian(
        robot=self,
        link_id=self._foot_link_ids[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.
    assert len(self._foot_link_ids) == self.num_legs
    return self.compute_jacobian(
        robot=self,
        link_id=self._foot_link_ids[leg_id],
    )
def ComputeJacobian ( self , leg_id ) : # Does not work for Minitaur which has the four bar mechanism for now. assert len ( self . _foot_link_ids ) == self . num_legs return self . compute_jacobian ( robot = self , link_id = self . _foot_link_ids [ leg_id ] , )