traversaro
commented
8 years ago The ordering of the joints is the one documented in https://github.com/robotology-playground/WBI-Toolbox/wiki/Details-on-iCub-joints-ordering-in-WBI-Toolbox .
For more info on iCub joints, check http://eris.liralab.it/wiki/ICub_joints and http://wiki.icub.org/wiki/ICub_Model_naming_conventions .
Long Explanation
The mex-wholebodymodel interface is using by default the list ROBOT_MEX_WBI_MODEL [2], that should be properly defined in the configuration file used to configure the WBI.
As the mex-wholebodymodel is always using the "yarpWholeBodyInterface.ini" [2], you can look up there the content of the list (for the icubGazeboSim robot).
The list is defined in [3].
From an inspection of that configuration file, I can see that the ordering used is exactly the one documented in https://github.com/robotology-playground/WBI-Toolbox/wiki/Details-on-iCub-joints-ordering-in-WBI-Toolbox.
[1] : https://github.com/robotology/mex-wholebodymodel/blob/6603ab444e828f05bcb71c0317e4421e97736ac8/src/modelstate.cpp#L230 [2] : https://github.com/robotology/mex-wholebodymodel/blob/6603ab444e828f05bcb71c0317e4421e97736ac8/src/modelstate.cpp#L223 [3] : https://github.com/robotology/yarp-wholebodyinterface/blob/master/app/robots/icubGazeboSim/yarpWholeBodyInterface.ini#L85
I was wondering in the simulator in the
matlab-src/mex-wholebodymodel_balancing, which joint ordering is used?