Switch from std::set to std::vector to prevent joint name alphabetization
#54
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I tried it out with the REACH demo and it works correctly on my machine 👍 |
Robotawi
approved these changes
Jun 26, 2023
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Thank you, @sea-bass! The issue is solved. |
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After some debugging, we found an issue in which joint names are being alphabetized because of the use of a
std::set... this didn't manifest itself in all the models we've tested with so far because often joint names are numbered by their order in a kinematic chain.See #43 (comment) for more details.
Closes #43