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Fix urdf ordering bug #39
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…in the urdf, which seems to affect our jacobian computation. Jacobian computation fails on that urdf
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Fixes issue #37
The function
find_joint_of_bodyreturns the joint index ordered by which<joint>fields are defined within the URDF file.The joint indices contained in
controlled_joints(which is also the indexing used throughout other parts of the robot model) is ordered by which<link>fields are defined within the URDF file.compute_endeffector_jacobianerroneously uses the first indexing scheme to locate joints, which will cause errors when the links are defined in a different order than the joints within the URDF.