Question: is it possible to fail planning if pose is not possible?

AndrejOrsula / pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

BSD 3-Clause "New" or "Revised" License

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Question: is it possible to fail planning if pose is not possible? #25

Closed kongoncharuk closed 1 year ago

kongoncharuk commented 1 year ago

Hi,

I was wondering if it's possible to split the move into two stages: planning and execution, and fail planning if the pose is not possible before starting the execution phase.

It is the way how MoveIt C++ interface works and is very convenient.

Currenly move_to_pose will start moving straight away and hit itself if the move is not attainable.

Thanks.