Currently the order of the joints used in the SoT and in the urdf (hence by pinocchio) is not the same. This is rather annoying because it requires frequent conversions of the joint order. We should modify the low-level of the robot so that it uses the same order of the URDF. Then we could get rid of all these joint order conversions.
Currently the order of the joints used in the SoT and in the urdf (hence by pinocchio) is not the same. This is rather annoying because it requires frequent conversions of the joint order. We should modify the low-level of the robot so that it uses the same order of the URDF. Then we could get rid of all these joint order conversions.