fix: added subcategories to the missing objectives

`PlanMTC` has significantly reduced performance when called with
multiple `SetupMTCMoveToPose` stages and can no longer plan for as many
poses. Reducing the number of poses as a quick fix enables the
`PlanAndSaveTrajectory` objective to work again.

7.0 sync

…-7.0

Reduce the poses used in PlanAndSaveTrajectory

Fix JointDiagnostic Objective

Correct typo in scan scene description

…lay-motion

Don't use MTC in Plan and Save Trajectory objective

Add Pick Cube waypoint

Update 7.0

…onfig

update ACM for links that don't collide

…onfig

set mobile_manipulation_config keyframe to zero

Signed-off-by: Paul Gesel <[email protected]>

Use core segmentation behavior in `lab_sim`

Add ros2_robotiq_gripper as a submodule to revert commit that changed a
xacro arg and is causing issues launching the mobile manipulation
config.