why do pr2 joints have values that are outside of [-pi,pi]?
Hi,
Some pr2 joints have values that are outside of [-pi, pi]. I guess for circular joints they are still correct, buy why? Is it for computation reason?
Thanks!
Huan
a snapshot of /joint_states
['fl_caster_rotation_joint', 'fl_caster_l_wheel_joint', 'fl_caster_r_wheel_joint', 'fr_caster_rotation_joint', 'fr_caster_l_wheel_joint', 'fr_caster_r_wheel_joint', 'bl_caster_rotation_joint', 'bl_caster_l_wheel_joint', 'bl_caster_r_wheel_joint', 'br_caster_rotation_joint', 'br_caster_l_wheel_joint', 'br_caster_r_wheel_joint', 'torso_lift_joint', 'head_pan_joint', 'head_tilt_joint', 'laser_tilt_mount_joint', 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint', 'r_gripper_joint', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'r_gripper_r_finger_tip_joint', 'r_gripper_l_finger_tip_joint', 'l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', 'l_gripper_joint', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint', 'l_gripper_r_finger_tip_joint', 'l_gripper_l_finger_tip_joint'] position: [-25.136960855868342, 68.472956500630374, 37.068301183569631, -31.409328058537294, -18.933136634743402, -57.517624429059097, -3.1284428982839643, 5.3914657553882392, -3.4942005574043051, -3.1604912968985568, 66.832474966597601, 59.113304284203849, 0.026767435883175424, -0.24270374158698663, -0.3933274002294424, 0.11195493820065446, -0.04203930185080762, -1.1389219022208392, -0.16382612058401533, 18.714694016914294, -1.7741163973815695, -2.0013098063511703, -23.417522242391954, 0.0026491546994614605, 0.016610319039379901, 0.016610319039379901, 0.016610319039379901, 0.016610319039379901, 2.5979006159333666, 0.34758495267680961, -0.35116719220802289, 9.4771049134843661, -2.0293996340100984, -1.4185019236812049, 13.025351396232255, 0.079504039480693636, 0.46000185795463722, 0.46000185795463722, 0.46000185795463722, 0.46000185795463722]