Fix floating-base Jacobian column switch bug, fix floating-base collision links #668
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- Fixes floating-base issues
The joints were correctly swapped for ZYX order, but the joint names in the list were not. As such when looking up the ID (e.g. for the column of the Jacobian!), the Z and X rotation were swapped. Obviously this lead to wrong Jacobians for the floating base and issues when optimising. Also, it caused our collision task maps to have trouble with base links.
This broke the kinematics order. The name is only used internally. The proper fix is to change from link to joint mapping for collision objects.
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Jun 22, 2020
…-base-jacobian-fix Fix floating-base Jacobian column switch bug, fix floating-base collision links
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This PR fixes a massive bug which swapped the columns (!) of two of the three rotational components of the floating-base. Yikes.
It also fixes the treatment of floating-base links for collision avoidance task maps.