Fix JointDiagnostic Objective

[marioprats]

The waypoints used in the lab_sim config in the Joint Diagnostic Objective are very close to self-collision.
Pro-RRT has a default padding of 1cm to help with tunneling issues. That padding makes this Objective fail, since it would bring the waypoints to a self-collision.
This PR closes #10136 by manually overriding link_padding=0.0 in the Joint Diagnostic Objective.
But moving directly to the waypoints via the Teleoperate panel would have the same issue. So this PR also overrides the Teleoperate Objective and sets link_padding=0.0 there too.

resolves https://github.com/PickNikRobotics/moveit_pro/issues/10136

[dyackzan]

This fixes the Joint Diagnostic objective for me but teleop-ing to the wrist max/min waypoints still fails. It looks like the "Request Teleoperation" objective from the parent picknik_ur_base_config is still being used for me with the non-zero link padding...I think this is potentially because you haven't added the top level "Teleoperate" objective so it's using the inherited one that pulls in the base "Request Teleoperation" objective

[marioprats]

Are you using the dev workflow or user workflow? I noticed with the dev workflow that it wasn't redefining the symlink to the lab_sim request_teleoperation.xml for some reason. I had to remove ~/.config/moveit_pro/lab_sim/ and then it worked. Wondering if there's something broken with the Objective override mechanism? I also tried adding the teleoperate.xml but still didn't work without me manually removing ~/.config/moveit_pro/lab_sim/

[marioprats]

@dyackzan I tried again with a fresh docker container and it worked for me. Could you please try again and check if you still see the issue?

[dyackzan]

I've been using the user workflow with 7.0.0-rc8. I saw the same issue with teleop when I just ran it, but after I pruned my docker images and rebuilt it registered your changes...seems odd those symlinks aren't updated properly without removing the docker images