How to change the order of joints in pinocchio

[nanyangnuan]

Hello! When I use 'buildmodel' to build unitree_A1, the order of joints is 'FL,FR,RL,RR' in pinocchio's model. But the order of input is 'FR,FL,RR,RL'. So, how to change the order of joints if the order of input can't change? Thanks in advance.

[jcarpent]

Why do you want to change the joint ordering?

[nanyangnuan]

when I use unitree_guide, the order of input just like position q is 'FR,FL,RR,RL'. I use pinocchio to buildmodel and want to forwardKinematics(model,data,_q), the order of _q is 'FL,FR,RL,RR' , I need change q to _q. other parameter like v,a,tau and so on need to change order. I think this work is pointless.

[jcarpent]

Currently, we do not have such tools to reorder the joints as you mention. It would be quite nice to have indeed.
In the current time, I would suggest just doing the overwriting manually.

[cmastalli]

@nanyangnuan -- your request is very user-specific and not well thought out. Pinocchio follows an alphanumeric order as in other well-developed cases. You can easily reorder joints to accommodate your requirements.