Description

The recovery behaviors in the acquisition tree were broken. This PR fixes them, by:

Setting the right frame for servoing.
Setting the F/T threshold on the right controller for servoing.
Setting an orientation constraint on the cartesian motion.
Increasing the F/T threshold to 75 (because the extraction threshold is 50, which means that if extraction ends up going into the table, the measured force will be > 50.

Testing procedure

[x] Try an acquisition that fails. (in my experience, having the food item just up from the fork, being vertical, and then if the fork turns 180 degrees to target the food item, then extraction will go into the plate, making it fail.) Verify that servo rises up.
[x] Make servo fail by commenting out the default frame ID input. Verify that the cartesian plan is at least computed (in my experience, the output is only a partial plan so often gets rejected.

[x] Format your code using black formatter python3 -m black .
[x] Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..