Torso equivalent joints are ordered in gazebo simulation as: heave, roll, pitch, yaw.
This is not correct, since on the real robot joints are ordered as heave, pitch, roll, yaw.
This issue is going to be fixed in an upcoming PR.
Please note that this modification will be a breaking change for all user modules that on gazebo simulation control the torso equivalent joints just using the joint id.
Torso equivalent joints are ordered in gazebo simulation as: heave, roll, pitch, yaw. This is not correct, since on the real robot joints are ordered as heave, pitch, roll, yaw. This issue is going to be fixed in an upcoming PR.
Please note that this modification will be a breaking change for all user modules that on gazebo simulation control the torso equivalent joints just using the joint id.