(self, robot, link_id)
return jacobian
Computes the Jacobian matrix for the given link.

    Args:
      robot: A robot instance.
      link_id: The link id as returned from loadURDF.

    Returns:
      The 3 x N transposed Jacobian matrix. where N is the total DoFs of the
      robot. For a quadruped, the first 6 columns of the matrix corresponds to
      the CoM translation and rotation. The columns corresponds to a leg can be
      extracted with indices [6 + leg_id * 3: 6 + leg_id * 3 + 3].
Computes the Jacobian matrix for the given link.
Computes the Jacobian matrix for the given link .
def compute_jacobian(self, robot, link_id):
    """Computes the Jacobian matrix for the given link.

    Args:
      robot: A robot instance.
      link_id: The link id as returned from loadURDF.

    Returns:
      The 3 x N transposed Jacobian matrix. where N is the total DoFs of the
      robot. For a quadruped, the first 6 columns of the matrix corresponds to
      the CoM translation and rotation. The columns corresponds to a leg can be
      extracted with indices [6 + leg_id * 3: 6 + leg_id * 3 + 3].
    """
    all_joint_angles = [state[0] for state in robot._joint_states]
    zero_vec = [0] * len(all_joint_angles)
    jv, _ = self.pybullet_client.calculateJacobian(robot.quadruped, link_id,
                                                    (0, 0, 0), all_joint_angles,
                                                    zero_vec, zero_vec)
    jacobian = np.array(jv)
    assert jacobian.shape[0] == 3
    return jacobian
def compute_jacobian ( self , robot , link_id ) : all_joint_angles = [ state [ 0 ] for state in robot . _joint_states ] zero_vec = [ 0 ] * len ( all_joint_angles ) jv , _ = self . pybullet_client . calculateJacobian ( robot . quadruped , link_id , ( 0 , 0 , 0 ) , all_joint_angles , zero_vec , zero_vec ) jacobian = np . array ( jv ) assert jacobian . shape [ 0 ] == 3 return jacobian