Merge v2.11 to main (#148)

* Scan and plan objective (#139) (#140)

* New scan and plan objective.

* Add trajectory to objectives directory.

* Lint.

* Trajectory is now relative to object's frame.

* Remove old parameter.

* Fix indentation.

* Fix indentation.

* Renumbered poses.

* Grouped in subtrees.

* Use path that does not depend on the installation user. (#143)

* STUDIO_USERNAME doesn't exist (#144)

* Backport "Replace IsForceWithinThreshold with ForceExceedsThreshold (#136)" to v2.11 (#145)

* Replace IsForceWithinThreshold with ForceExceedsThreshold
* Add copies of objectives for Gazebo config to handle different force threshold settings

---------

Co-authored-by: Nacho Mellado <ignacio.mellado@picknik.ai>
Co-authored-by: Joseph Schornak <joe.schornak@gmail.com>

.env

@@ -12,5 +12,5 @@ STUDIO_LICENSE_KEY=
 
 # User name and UID to use when building the container
 # Ensure these settings match your host environment for mounted file permissions.
-STUDIO_USERNAME=
+USERNAME=
 STUDIO_USER_UID=

src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml

@@ -6,7 +6,7 @@
       <Action ID="ClearSnapshot"/>
       <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
       <SubTree ID="EstimateObjectPose" object_model_file_path="/opt/overlay_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
-      <Action ID="LoadPoseStampedVectorFromYaml" file_path="/home/studio-user/.config/moveit_studio/picknik_ur_gazebo_scan_and_plan_config/objectives/trajectory_around_hercules.yaml" output="{pose_stamped_msgs}"/>
+      <Action ID="LoadPoseStampedVectorFromYaml" file_path="/opt/overlay_ws/install/picknik_ur_gazebo_scan_and_plan_config/share/picknik_ur_gazebo_scan_and_plan_config/objectives/trajectory_around_hercules.yaml" output="{pose_stamped_msgs}"/>
       <Decorator ID="ForEachPoseStamped" vector_in="{pose_stamped_msgs}" out="{trajectory_pose}">
         <Control ID="Sequence">
           <Action ID="TransformPoseWithPose" input_pose="{trajectory_pose}" transform_pose="{model_to_real_pose}" output_pose="{target_pose}"/>