[exotica_core] KinematicTree: EPIC BUG FIX FOR JACOBIANS 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.
[exotica_core] KinematicTree: EPIC BUG FIX FOR JACOBIANS
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.

openhumanoids/exotica,openhumanoids/exotica,openhumanoids/exotica,openhumanoids/exotica