Update src/picknik_ur_mock_hw_config/objectives/constrained_pick_plac…

…e.xml

Co-authored-by: Michael Wrock <[email protected]>

src/picknik_ur_mock_hw_config/objectives/constrained_pick_place.xml

@@ -9,7 +9,7 @@
         <Action ID="AppendOrientationConstraint" config_file_name="my_constraints.yaml" constraints="{constraints}"/>
         <!--Move to pick location-->
         <SubTree ID="Open Gripper"/>
-        <!--Note: sometimes constraint planning can fail, so we add a retry decorator to improve success-->
+        <!--Note: Sampling based planners can be non-deterministic. The retry decorator improves the likelihood of success-->
         <Decorator ID="RetryUntilSuccessful" num_attempts="3">
           <SubTree ID="Move to Waypoint" waypoint_name="Grasp Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
         </Decorator>