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Planners use robot's active DOFs rather than those in the ConfigurationSpecification #57

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cdellin opened this issue Apr 17, 2016 · 1 comment
Open

Planners use robot's active DOFs rather than those in the ConfigurationSpecification #57

cdellin opened this issue Apr 17, 2016 · 1 comment
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@cdellin
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cdellin commented Apr 17, 2016

I'm not sure exactly what the right thing to do here is, but I believe it's more correct to plan over the DOFs specified in the PlannerParameters's ConfigurationSpecification object, rather than those that are currently active on the robot. Offending code is here and here.
@cdellin cdellin added the bug label Apr 17, 2016
@mkoval
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mkoval commented Apr 18, 2016

I believe you're correct. As far as I can tell, the planners included with OpenRAVE exclusively use the PlannerParameter's ConfigurationSpecification, not the robot's active DOFs.

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