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Jacobian computation fails when joints in urdf are out of order #37

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fmeier opened this issue Mar 15, 2022 · 1 comment
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Jacobian computation fails when joints in urdf are out of order #37

fmeier opened this issue Mar 15, 2022 · 1 comment
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fmeier commented Mar 15, 2022

I added a branch with the original trifinger urdf - where the joints are specified out of order (out of order meaning not as they appear in the kinematic tree)

the jacobian tests fails for this urdf
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fmeier commented Mar 15, 2022

branch
https://github.com/facebookresearch/differentiable-robot-model/tree/urdf_ordering_bug

@exhaustin exhaustin mentioned this issue Apr 21, 2022
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