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Update for Jira 1099 #373

Closed Hao12450 closed 5 months ago

Hao12450 commented 1 year ago

Linked Issues:

EPIC ⚡ [OCEANWATER-1099](https://babelfish.arc.nasa.gov/jira/browse/OCEANWATER-1099
Jira Ticket 🎟️ OCEANWATER-1099
Github :octocat: #

Please see the comments in https://github.com/nasa/ow_simulator/pull/360

AstroStucky commented 1 year ago

Am I correct in assuming this PR addresses my comments from the previous PR? Is it ready for review right now?

Hao12450 commented 1 year ago

Am I correct in assuming this PR addresses my comments from the previous PR? Is it ready for review right now?

Hi Thomas, yes is ready to review, I also made comments on the code so easy for you to locate the change.

AstroStucky commented 5 months ago

I'm going to close this for now. I am not convinced the approach is our best option to improve arm consistency. Unfortunately my follow-up testing that changed some actions to using RRT* instead of the slower RRTConnect resulted in not much better consistency than simply using 1 plan result. I think there are MoveIt parameters that can be adjusted to improve arm consistency without having to compute our own statistics.

Hao12450 commented 5 months ago

I'm going to close this for now. I am not convinced the approach is our best option to improve arm consistency. Unfortunately my follow-up testing that changed some actions to using RRT* instead of the slower RRTConnect resulted in not much better consistency than simply using 1 plan result. I think there are MoveIt parameters that can be adjusted to improve arm consistency without having to compute our own statistics.

I will try to see if any other solution or adjust the Movelt parameters works, sorry for the late response, I have been very sick for the last 8 months now I have recovered, will give you update ASAP.

AstroStucky commented 5 months ago

I had no idea! I am happy to hear you are feeling better. No problem at all about the late response.

I needed to close this simply because the project is going into a holding pattern. Should you open a new PR in the future, or even modify this one, I would be happy to take a look at it in my own time.