Creating a constraint

[Sambertibus]

Hello everyone,

I am having some trouble creating a constraint in pybullet and need some clarification. According to the documentation, I need to specify both the Parent-Link-Index and the Child-Link-Index. However, when looking at the provided example (the quadruped), a joint index is given instead.

My question is: When specifying a joint index, does this correspond to the index of the Parent-Link or the Child-Link within the joint?

Thank you for your help!