[ROS2] MoveIt2Plan Should Allow Us To Reject Large Motions
amalnanavati opened this issue · comments
In around 5% of acquisitions, the robot makes an extremely large swiveling motion to move above the food. We should instead allow programmers to pass an optional argument into MoveIt2Plan which is a threshold of joint motion above which a plan is considered failed. I'm not sure what a good threshold would be, but my hunch is that if one of the first 3 joints moves > 180 degrees it is safe to consider that too large of a swivel?
(Eventually, we should consider chaining multiple planning calls together and taking the shortest. But irrespective of that, it seems like having the option to reject motions that are too large in joint space seems like a good idea.)
Thoughts @egordon ?
Closed with #161