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CentroEPiaggio / pacman-DR53

This repository contains the necessary tools to run the demo contemplated in DR 5.3 of the PaCMan Project.
GNU General Public License v2.0
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Normalize the joint space for the Kuka? #16

Closed carlosjoserg closed 9 years ago

carlosjoserg commented 9 years ago

@hamalMarino The SoftHand already operates in [0,1]. Do you think it is beneficial to do the same for the arm? How that would affect the low-level planner implementation?

I think it might have influence in #12.

/cc @manuelbonilla @MirkoFerrati

hamalMarino commented 9 years ago

I don't see any reason for that: this will need linear scaling inversion for each joint, and there is no benefit in having [0,1] joints instead of real limit values: that info comes with geometry anyway, and we need geometry... If you see any reason for that let's discuss it, I'm open but I don't see any benefit right now

manuelbonilla commented 9 years ago

I don't see any reason either. I'm almost sure that all planners do it internally.

carlosjoserg commented 9 years ago

I'm almost sure that all planners do it internally.

Now that you mention it, yes, it is highly probable that OMPL does it that way.

Ok, I consider my doubt clarified. Thanks!