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I think there only 2 things here - and they are two different ways to specify what the success criteria for the planner are:
The reason it is called "joint space" is because the "configuration space" is defined by the number of joints in your robot arm and their allowable range of motions. The "configuration space" is a widely used notion in mathematics and planning - so you can find lots more information if you want to delve into that later, but really, all you need to decide now is: do you have a goal based on where the end effector should be? or based on what angle the joints should each be set to?
That is correct. Generally if you're trying to do XYZRPY of the end effector, you'd just use the pose goal. The joint space goals are really for putting the arm in a specific known configuration (for instance, a "ready" pose that tucks the arm out of the way of the camera, etc).
Asked: 2020-08-18 16:54:11 -0600
Seen: 1,179 times
Last updated: Aug 18 '20
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