Merge branch 'moveit:main' into main

.codespell_words

@@ -3,3 +3,5 @@ pullrequests
 debians
 hart
 tork
+Pincher
+SINIC

.github/PULL_REQUEST_TEMPLATE.md

@@ -4,6 +4,6 @@ Please explain the changes you made, including a reference to the related issue
 
 ### Checklist
 - [ ] Tested modified webpage locally using the ``build_locally.sh`` script
-- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers
+- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/moveit/moveit/pulls) to support the maintainers
 
 [//]: # "You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!"

.github/workflows/build.yaml

@@ -12,11 +12,10 @@ jobs:
     name: Build Website
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
     - uses: ruby/setup-ruby@v1
       with:
-        ruby-version: '3.0.2'
+        ruby-version: '3.2.2'
         bundler-cache: true
     - name: Build and Check Website
       run: ./.check_build.sh

.github/workflows/format.yaml

@@ -15,8 +15,8 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-    - name: Install clang-format-14
-      run: sudo apt-get install clang-format-14
-    - uses: pre-commit/action@v2.0.0
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.x
+    - uses: pre-commit/action@v3.0.1

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ exclude: '^$|assets'
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -30,12 +30,12 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 24.8.0
     hooks:
       - id: black
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.0.0
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words']

CNAME

@@ -1 +1 @@
-moveit.ros.org
+moveit.ai

README.md

@@ -1,9 +1,9 @@
 # The MoveIt Website
 
-[![Formatting (pre-commit)](https://github.com/ros-planning/moveit.ros.org/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit.ros.org/actions/workflows/format.yaml?query=branch%3Amain)
-[![Build Status](https://github.com/ros-planning/moveit.ros.org/actions/workflows/build.yaml/badge.svg?branch=main)](https://github.com/ros-planning/moveit.ros.org/actions/workflows/build.yaml?query=branch%3Amain)
+[![Formatting (pre-commit)](https://github.com/moveit/moveit.ros.org/actions/workflows/format.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit.ros.org/actions/workflows/format.yaml?query=branch%3Amain)
+[![Build Status](https://github.com/moveit/moveit.ros.org/actions/workflows/build.yaml/badge.svg?branch=main)](https://github.com/moveit/moveit.ros.org/actions/workflows/build.yaml?query=branch%3Amain)
 
-The MoveIt website (http://moveit.ros.org/) is hosted on **Github Pages** using Markdown format.
+The MoveIt website (https://moveit.ai/) is hosted on **Github Pages** using Markdown format.
 Changes to the ``main`` branch become immediately available online.
 
 ## Images
@@ -12,7 +12,7 @@ Please compress images before loading them to the repo, we recommend [https://ti
 
 ## YouTube Videos
 
-Please use https://www.youtube-nocookie.com/ instead of  https://www.youtube.com/. Explanation [here](https://github.com/ros-planning/moveit.ros.org/issues/232).
+Please use https://www.youtube-nocookie.com/ instead of  https://www.youtube.com/. Explanation [here](https://github.com/moveit/moveit.ros.org/issues/232).
 
 ## Build Locally on Ubuntu
 

_config.yml

@@ -1,5 +1,6 @@
 url: https://moveit.ros.org
 name: MoveIt Motion Planning Framework
+title: MoveIt Motion Planning Framework
 description: Incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation.
 
 plugins:

_includes/announcement-banner.html

@@ -1,5 +1,10 @@
 <div class="moveit_announcement_banner">
-  <a href="https://picknik.ai/studio/">
-    <img src="/assets/images/MoveIt_Announcement_Banner.png" alt="MoveIt announcement banner" />
+  <span class="moveit_announcement_banner--close"></span>
+  <!-- Close button -->
+  <a href="https://picknik.ai/pro/">
+    <img
+      src="/assets/images/MoveIt_Announcement_Banner.png"
+      alt="MoveIt announcement banner"
+    />
   </a>
 </div>

_includes/contribution-guide-nav.html

@@ -31,8 +31,8 @@
         </div>
   </a>
   <div class="font-other-page">Open Pull Requests:</div>
-  <a href="https://github.com/ros-planning/moveit/pulls" target="_blank">
-    {% if page.url == "https://github.com/ros-planning/moveit/pulls" %}
+  <a href="https://github.com/moveit/moveit/pulls" target="_blank">
+    {% if page.url == "https://github.com/moveit/moveit/pulls" %}
     <div class="row no-gutters">
       <img src="/assets/install_page/current_page_left.png" class="current-page-image-left">
       <img src="/assets/install_page/current_page_right.png" class="current-page-image-right">
@@ -45,8 +45,8 @@
           </div>
         </div>
   </a>
-  <a href="https://github.com/ros-planning/moveit2/pulls" target="_blank">
-    {% if page.url == "https://github.com/ros-planning/moveit2/pulls" %}
+  <a href="https://github.com/moveit/moveit2/pulls" target="_blank">
+    {% if page.url == "https://github.com/moveit/moveit2/pulls" %}
     <div class="row no-gutters">
       <img src="/assets/install_page/current_page_left.png" class="current-page-image-left">
       <img src="/assets/install_page/current_page_right.png" class="current-page-image-right">

_includes/default.html

@@ -61,5 +61,8 @@
 
       gtag('config', 'UA-108532843-1');
     </script>
-
+    <!-- Leadfeeder Tracker -->
+    <script>
+      (function (ss, ex) { window.ldfdr = window.ldfdr || function () { (ldfdr._q = ldfdr._q || []).push([].slice.call(arguments)); }; (function (d, s) { fs = d.getElementsByTagName(s)[0]; function ce(src) { var cs = d.createElement(s); cs.src = src; cs.async = 1; fs.parentNode.insertBefore(cs, fs); }; ce('https://sc.lfeeder.com/lftracker_v1_' + ss + (ex ? '_' + ex : '') + '.js'); })(document, 'script'); })('lYNOR8xOKPOaWQJZ');
+    </script>
   </head>

_includes/footer.html

@@ -13,8 +13,8 @@
         </p>
         <p>
           Check out our
-          <a href="https://picknik.ai/studio/" target="_blank"
-            >MoveIt Developer Platform</a
+          <a href="https://picknik.ai/pro/" target="_blank"
+            >MoveIt Pro Developer Platform</a
           >
         </p>
         <a class="button" href="/install">INSTALL NOW</a>
@@ -105,7 +105,7 @@ <h4>CONTRIBUTE</h4>
         </div>
       </div>
       <div class="col-xs-12 col-sm-12 footer-last-link">
-        <a href="https://github.com/ros-planning/moveit.ros.org"
+        <a href="https://github.com/moveit/moveit.ros.org"
           >Edit website on <span class="color-blue">Github</span></a
         >
       </div>

_includes/nav-bar.html

@@ -1,6 +1,6 @@
 <div class="header">
   <div class="github github-blog">
-    <a href="https://github.com/ros-planning/moveit2" target="_blank" class="github-corner" aria-label="View source on Github">
+    <a href="https://github.com/moveit/moveit2" target="_blank" class="github-corner" aria-label="View source on Github">
       <svg width="71" height="71" viewBox="0 0 250 250" style="fill:#fff; color:#151513; position: absolute; top: 0; border: 0; right: 0;" aria-hidden="true">
         <path d="M0,0 L115,115 L130,115 L142,142 L250,250 L250,0 Z"></path>
         <path d="M128.3,109.0 C113.8,99.7 119.0,89.6 119.0,89.6 C122.0,82.7 120.5,78.6 120.5,78.6 C119.2,72.0 123.4,76.3 123.4,76.3 C127.3,80.9 125.5,87.3 125.5,87.3 C122.9,97.6 130.6,101.9 134.4,103.2" fill="currentColor" style="transform-origin: 130px 106px;" class="octo-arm"></path>
@@ -30,7 +30,7 @@
             </a>
             <div class="dropdown-menu" aria-labelledby="navbarDropdownInstall">
               <a class="dropdown-item" href="/install">MoveIt 1</a>
-              <a class="dropdown-item" href="/install-moveit2/source/">MoveIt 2</a>
+              <a class="dropdown-item" href="/install-moveit2/binary/">MoveIt 2</a>
             </div>
           </li>
           <li class="nav-item dropdown">
@@ -69,7 +69,7 @@
               <a class="dropdown-item" href="/documentation/contributing/">Contributing</a>
               <a class="dropdown-item" href="/events/">Events</a>
               <a class="dropdown-item" href="/documentation/contributing/roadmap/">Roadmap</a>
-              <a class="dropdown-item" href="/events/2023-google-summer-of-code/">2023 Google Summer of Code</a>
+              <a class="dropdown-item" href="/events/2024-google-summer-of-code/">2024 Google Summer of Code</a>
               <a class="dropdown-item" href="/documentation/contributing/pullrequests/">Pull Requests</a>
               <a class="dropdown-item" href="/documentation/contributing/code/">Development</a>
             </div>

_includes/release-progress.html

@@ -1,5 +1,5 @@
 <div class='col-sm-12 time-line-wrappper time-line-wrapper-future'>
-  <h3>MoveIt Jazzy</h3>
+  <h3>MoveIt K</h3>
   <a class="button button-transparent" href="/documentation/contributing/roadmap/">SEE ROADMAP</a>
   <div class="time-line">
     <div class="time-line--orange" id="time-line--orange-1"></div>
@@ -8,31 +8,31 @@ <h3>MoveIt Jazzy</h3>
   </div>
   <div class="time-line-content">
     <div class="time-line--info">
-      <p>May 2023</p>
+      <p>June 2024</p>
     </div>
     <div class="time-line--info">
       <span class="time-line-box time-line-box--blue"></span>
       <p>
-      <strong class="color-blue">Initial Development</strong>
-      <small>1 July 2023</small>
+      <strong class="color-blue">Development</strong>
+      <small>1 July 2024</small>
       </p>
     </div>
     <div class="time-line--info">
       <span class="time-line-box time-line-box--orange"></span>
       <p>
       <strong class="color-orange">Feature Freeze</strong>
-      <small>30 March 2024</small>
+      <small>30 March 2025</small>
       </p>
     </div>
     <div class="time-line--info">
       <span class="time-line-box time-line-box--red"></span>
       <p>
       <strong class="color-red">Official Release</strong>
-      <small>31 May 2024</small>
+      <small>1 June 2025</small>
       </p>
     </div>
     <div class="time-line--info">
-      <p>May 2024</p>
+      <p>June 2025</p>
     </div>
   </div>
 </div>

_layouts/blog.html

@@ -1,5 +1,6 @@
 {% include default.html %}
   <body>
+    {% include announcement-banner.html %}
     {% include nav-bar.html %}
     <div class="container container-blog">
       {{ content }}

_layouts/contribution-guide.html

@@ -1,5 +1,6 @@
 {% include default.html %}
   <body>
+    {% include announcement-banner.html %}
     {% include nav-bar.html %}
     <div class="container">
       <div class="sub-pages section">

_layouts/install.html

@@ -1,5 +1,6 @@
 {% include default.html %}
   <body>
+    {% include announcement-banner.html %}
     {% include nav-bar.html %}
     <div class="container">
       <div class="sub-pages section">

_layouts/page.html

@@ -1,5 +1,6 @@
 {% include default.html %}
   <body class="bg-grey">
+    {% include announcement-banner.html %}
     {% include nav-bar.html %}
     <div class="container">
       <div class="sub-pages section">

_layouts/post.html

@@ -1,5 +1,6 @@
 {% include default.html %}
   <body>
+    {% include announcement-banner.html %}
     {% include nav-bar.html %}
     <div class="container">
       <div class="row justify-content-between">

_layouts/support.html

@@ -1,5 +1,6 @@
 {% include default.html %}
   <body>
+    {% include announcement-banner.html %}
     {% include nav-bar.html %}
     <div class="container">
       <div class="row justify-content-between">

_posts/2014-01-07-a-new-year-a-new-website-a-new-movie.markdown

@@ -40,7 +40,7 @@ We have listened to your feedback and added:
   * [New documentation](/)
 
 
-  * [New tutorials](https://ros-planning.github.io/moveit_tutorials/) - Sphinx-based tutorials living next to the code so they are easier to maintain
+  * [New tutorials](https://moveit.github.io/moveit_tutorials/) - Sphinx-based tutorials living next to the code so they are easier to maintain
 
 
   * [Robots using MoveIt!](/robots/) page

_posts/2016-12-15-kinetic-release.markdown

@@ -19,14 +19,14 @@ Notably, in Kinetic, C++11 is now fully utilized for MoveIt! -- which means you
 
 Some new features and bug-fixes added since the [last release into Jade](http://moveit.ros.org/moveit!/ros/2016/09/02/firstjaderelease.html), :
 
-- [Trajectory safety validation before execution](https://github.com/ros-planning/moveit/pull/63) (Kinetic onward only)
-- New planners in [OMPL](http://ompl.kavrakilab.org/) are now available from MoveIt! (geometric::{FMT, BFMT, PDST, STRIDE, BiTRRT, LBTRRT, BiEST, ProjEST, LazyPRM, LazyPRMstar, SPARS, SPARStwo}) ([see PR for detail](https://github.com/ros-planning/moveit/pull/338))
-- [MoveGroup's default capabilities are now added by default](https://github.com/ros-planning/moveit/pull/359).
-- [New benchmarking using PlanningArena](https://github.com/ros-planning/moveit/pull/228)
-- [Separate Pick request without Grasps from Grasp Planning request](https://github.com/ros-planning/moveit/pull/328)
-- [Increase collision checking reliability for newly created moveit_config packages](https://github.com/ros-planning/moveit/pull/337)
-- [IK solvers consolidated into a new moveit_kinematics package](https://github.com/ros-planning/moveit/pull/247)
-- [Fix unreasonable "Invalid Trajectory: start point deviates" error](https://github.com/ros-planning/moveit/issues/283)
+- [Trajectory safety validation before execution](https://github.com/moveit/moveit/pull/63) (Kinetic onward only)
+- New planners in [OMPL](http://ompl.kavrakilab.org/) are now available from MoveIt! (geometric::{FMT, BFMT, PDST, STRIDE, BiTRRT, LBTRRT, BiEST, ProjEST, LazyPRM, LazyPRMstar, SPARS, SPARStwo}) ([see PR for detail](https://github.com/moveit/moveit/pull/338))
+- [MoveGroup's default capabilities are now added by default](https://github.com/moveit/moveit/pull/359).
+- [New benchmarking using PlanningArena](https://github.com/moveit/moveit/pull/228)
+- [Separate Pick request without Grasps from Grasp Planning request](https://github.com/moveit/moveit/pull/328)
+- [Increase collision checking reliability for newly created moveit_config packages](https://github.com/moveit/moveit/pull/337)
+- [IK solvers consolidated into a new moveit_kinematics package](https://github.com/moveit/moveit/pull/247)
+- [Fix unreasonable "Invalid Trajectory: start point deviates" error](https://github.com/moveit/moveit/issues/283)
 - Fedora support is added. Feedback (and fix if necessary) welcomed!
 
 If you're running your robot packages with ROS Kinetic, and/or if you want to try the newest MoveIt!, start at [moveit.ros.org/install](http://moveit.ros.org/install/)

_posts/2016-9-2-jade-release.markdown

@@ -17,20 +17,20 @@ If you're running your robot packages with ROS Jade, and/or if you want to try t
 
 Among numerous bug-fixes, there are quite a number of new features included:
 
-- [You can stop a trajectory while it's being executed via RViz](https://github.com/ros-planning/moveit_ros/pull/713)
+- [You can stop a trajectory while it's being executed via RViz](https://github.com/moveit/moveit_ros/pull/713)
   [Video](https://www.youtube-nocookie.com/embed/XEU-wVHUvgI&feature=youtu.be)
 
-- [Capability to execute trajectory with a ROS action](https://github.com/ros-planning/moveit/pull/60)
+- [Capability to execute trajectory with a ROS action](https://github.com/moveit/moveit/pull/60)
 
-- [Maximum acceleration scaling factor](https://github.com/ros-planning/moveit_core/pull/273)
+- [Maximum acceleration scaling factor](https://github.com/moveit/moveit_core/pull/273)
 
 - [Enables setting optimization objectives from ompl_planning.yaml](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/ompl_interface_tutorial.html?highlight=ompl)
 
-- [Velocity & acceleration values to cartesian trajectory](https://github.com/ros-planning/moveit_ros/pull/735)
+- [Velocity & acceleration values to cartesian trajectory](https://github.com/moveit/moveit_ros/pull/735)
 
-- [ApplyPlanningSceneService capability](https://github.com/ros-planning/moveit_ros/pull/686)
+- [ApplyPlanningSceneService capability](https://github.com/moveit/moveit_ros/pull/686)
 
-- [Extended planning_interface::PlanningSceneInterface](https://github.com/ros-planning/moveit_ros/issues/630)
+- [Extended planning_interface::PlanningSceneInterface](https://github.com/moveit/moveit_ros/issues/630)
 
 ![1st Jade release](http://www.ros.org/news/assets_c/2015/05/jadeturtle_LoRes-thumb-480x519-1131.jpg)
 
@@ -43,9 +43,9 @@ Contributors are working hard towards a new binary release into Indigo as well.
 The release will include the above mentioned features and bug fixes too and will
 also address multiple safety issues that were known among senior MoveIt developers already for some time:
 
-- [https://github.com/ros-planning/moveit/pull/191](https://github.com/ros-planning/moveit/pull/191)
-- [https://github.com/ros-planning/moveit/pull/63](https://github.com/ros-planning/moveit/pull/63)
-- [https://github.com/ros-planning/moveit/commit/b317a5722f40c61f0b86a934a5b1e65c7c45e38a](https://github.com/ros-planning/moveit/commit/b317a5722f40c61f0b86a934a5b1e65c7c45e38a)
+- [https://github.com/moveit/moveit/pull/191](https://github.com/moveit/moveit/pull/191)
+- [https://github.com/moveit/moveit/pull/63](https://github.com/moveit/moveit/pull/63)
+- [https://github.com/moveit/moveit/commit/b317a5722f40c61f0b86a934a5b1e65c7c45e38a](https://github.com/moveit/moveit/commit/b317a5722f40c61f0b86a934a5b1e65c7c45e38a)
 
 For Indigo, if you don't mind building from source, go for it: [moveit.ros.org/install/source](http://moveit.ros.org/install/source/)
 Be aware though that the repository branches are used for active development, so you might hit severe regressions in the current HEADs.
@@ -63,4 +63,4 @@ that should be addressed before the release. At least one of the points will be
 Should we move from boost::shared_ptr to std::shared_ptr in the public API in Kinetic?
 
 You're input is clearly welcome on these points.
-See [ros-planning/moveit/#18](https://github.com/ros-planning/moveit/issues/18) and [ros-planning/moveit/#48](https://github.com/ros-planning/moveit/issues/48) for more information.
+See [moveit/moveit/#18](https://github.com/moveit/moveit/issues/18) and [moveit/moveit/#48](https://github.com/moveit/moveit/issues/48) for more information.