Stretch recently acquired the ability to detect and prevent self collisions of the robot with itself (e.g. by the arm moving and colliding with the base or head). When a joint motion is stopped to prevent collision, it would be nice if the web interface were to notify the user. I imagine two ways the user can be notified:
A pop-up telling the user what happened
Graying out of the button that causes the self collision, and preventing the user from taking actions that will create further self collisions.
Stretch recently acquired the ability to detect and prevent self collisions of the robot with itself (e.g. by the arm moving and colliding with the base or head). When a joint motion is stopped to prevent collision, it would be nice if the web interface were to notify the user. I imagine two ways the user can be notified: