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ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
https://adam-docs.readthedocs.io/en/latest/
BSD 3-Clause "New" or "Revised" License
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Joint order in URDF file #17

Closed valentino-razza closed 2 years ago

valentino-razza commented 2 years ago

It seems that the parser of the URDF file is dependent on the order of joints definition.

In particular, the joints in the URDF file should appear in order such that the parent link was a child link for a joint before.

In case of bad joint order, the initialization fails since the library is not able to compute the rotation matrix