Use Pro-RRT directly under MoveToJointState and MoveToWaypoint

[marioprats]

Refactors the base MoveToJointState and MoveToWaypoint to:

1. Use Pro-RRT directly instead of MTC.
2. Make MoveToWaypoint use MoveToJointState internally.

This PR effectively makes Pro-RRT the default in all configs everywhere where MoveToJointState or MoveToWaypoint is called (e.g. move to waypoint shortcuts, etc.)
This should save planning time, improve determinism, reduce number of layers to maintain and give more flexibility to the user, since now we directly expose ports for:

• Link padding
• Orientation constraint
• Velocity / acceleration scale factor.

It also lets us get rid of the 'RetryUntilSuccessful' decorators in planning Objectives, since the plans are now deterministic.

I manually tested all the configs this PR is touching to make sure they still work.

Here's an example of planning around a keep-out zone with a tool 'keep upright' constraint:

RRT.Constraints.webm

MTC stages doing joint-space planning still not updated to use Pro-RRT by default (https://github.com/PickNikRobotics/moveit_studio/issues/9810).

Requires https://github.com/PickNikRobotics/moveit_studio/pull/9924
Closes https://github.com/PickNikRobotics/moveit_studio/issues/9701

[dyackzan]

Is there any risk that this switch could incur deterministic failure where the base rrt would be able to find a solution eventually if it re-tried planning enough?

[marioprats]

Is there any risk that this switch could incur deterministic failure where the base rrt would be able to find a solution eventually if it re-tried planning enough?

There's the risk it can't find a solution for a given problem. If that happens, it will never find a solution given the same conditions, even if it retries, which is a good thing, otherwise there's no way users can write reliable applications. On the flip side, if it succeeds, it will always succeed.
The new way to 'make it work' would be to increase the number of iterations (or timeout) in the input port so that it spends more time searching for a solution.