Dongya Jiang

Fix penalty calculation in constraints cost function in STOMP

7

### Description @henningkayser I mentioned this issue here: https://github.com/ros-planning/moveit2/issues/2554#issuecomment-1866178090 I can't plan in STOMP with joint constrants. I think the penalty result for constraints cost function should be `0.0` when...

[moveit_py] add getMotionPlanRequest in planning_component

9

### Description A MotionPlanRequest message is required to construct a `MoveGroupSequence` action, which is needed when using pilz planner. Add `get_motion_plan_request` so we can use pilz planner in moveit_py. ###...

In RenderScript, we can use `Allocation.getSurface()` to attach `GraphicBuffer` for input, and `Allocation.setSurface()` to get the result directly into a Surface. Thats very useful for stream rendering. Please add Surface...

misinformation of Reprojection Error.

2

in [`getReprojectionError()`](https://github.com/ros-planning/moveit_calibration/blob/ff6918e380791d82ff859b251297ac36bf1e1b2b/moveit_calibration_plugins/handeye_calibration_solver/include/moveit/handeye_calibration_solver/handeye_solver_base.h#L141) you will see ` ret = std::make_pair(std::sqrt(rotation_err / num_motions), std::sqrt(translation_err / num_motions)); return ret; ` which the first value is **rotation error** and the second is **translation error**....

last waypoint from STOMP solution doesn't always match goal

7

### Description this is a really annoying problem, the last waypoint from STOMP solution doesn't always match the `goal_state` I added four lines here for debug https://github.com/ros-planning/moveit2/blob/c2292a7054904c25851b6af78abb6aca8a5852ae/moveit_planners/stomp/src/stomp_moveit_planning_context.cpp#L68C1-L71C4 ```cpp if (!input_trajectory...