[ROS2] MoveTo Idiom For Relaxed Constraints/Parameters

[Amal Nanavati]

Currently, we have individual MoveTo calls with set constraints/parameters (e.g., in bite transfer). However, some of these constraints can be eliminated if need be. For example, the planning time can be increased. Or the orientation path constraints can be removed.

This issue is to create a generic idiom that lets us specify what constraints/parameters we want on the tree, but also which are optional, how to relax them, and in what order to relax them. The idiom will then produce a Selector that has the default MoveTo, with relaxed versions of it as fallbacks if the initial one fails.