Commit c8e42a6d authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[Python] expose local_frame bool in RobotWrapper's jacobian proxy

parent d6068a97
......@@ -109,8 +109,8 @@ class RobotWrapper(object):
se3.forwardKinematics(self.model, self.data, q, v, a)
return self.data.a[index]
def jacobian(self, q, index, update_geometry=True):
return se3.jacobian(self.model, self.data, q, index, True, update_geometry)
def jacobian(self, q, index, update_geometry=True, local_frame=True):
return se3.jacobian(self.model, self.data, q, index, local_frame, update_geometry)
def computeJacobians(self, q):
return se3.computeJacobians(self.model, self.data, q)
......
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