(self, leg_id)
return full_jacobian[com_dof + leg_id * motors_per_leg:com_dof +
                         (leg_id + 1) * motors_per_leg]
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
    full_jacobian = kinematics.compute_jacobian(
        robot=self,
        link_id=self._foot_link_ids[leg_id],
    )
    motors_per_leg = self.num_motors // self.num_legs
    com_dof = 6
    return full_jacobian[com_dof + leg_id * motors_per_leg:com_dof +
                         (leg_id + 1) * motors_per_leg]
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 full_jacobian = kinematics . compute_jacobian ( robot = self , link_id = self . _foot_link_ids [ leg_id ] , ) motors_per_leg = self . num_motors // self . num_legs com_dof = 6 return full_jacobian [ com_dof + leg_id * motors_per_leg : com_dof + ( leg_id + 1 ) * motors_per_leg ]