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iron76 / bnt_time_varying

Maximum-a-posteriori dynamic estimation for linkwise dynamic quantities
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Joint order #9

Open iron76 opened 9 years ago

iron76 commented 9 years ago

Once the icubGazeboSim_fixedHeadWrist.urdf is parsed with drake, the joint order is weird. In particular, it results the following:

q = [torso_pitch, torso_roll, torso_yaw, 
    l_leg_pitch, l_leg_roll, l_leg_yaw, l_leg_knee, l_ank_pitch, 
    l_arm_pitch, l_arm_roll, l_arm_yaw, l_arm_elbw, l_wrs_roll,  l_ank_roll,
    r_leg_pitch, r_leg_roll, r_leg_yaw, r_leg_knee, r_ank_pitch, 
    r_arm_pitch, r_arm_roll, r_arm_yaw, r_arm_elbw, r_wrs_roll,  r_ank_roll]

Notice in particular the strange position of the ank_roll which is separated from the other leg joints and at the very end of the arm joints. I tried to fix the issue by reordering the URDF (see f4549b88321d9905b7bcc72bceca4244a5517c6d) but with no effects.