How to change the order of joints in pinocchio

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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How to change the order of joints in pinocchio #2205

Closed nanyangnuan closed 3 months ago

nanyangnuan commented 3 months ago

Hello! When I use 'buildmodel' to build unitree_A1, the order of joints is 'FL,FR,RL,RR' in pinocchio's model. But the order of input is 'FR,FL,RR,RL'. So, how to change the order of joints if the order of input can't change? Thanks in advance.