Robot descriptions v2.18.0

MoveIt 2 planning and mock execution

PAR6 and PAROL6 now have dedicated par6_moveit_config and
parol6_moveit_config ROS 2 packages. All twelve arm/tool configurations are
supported: flange-only, MSG Solid/Soft TPU, SSG48 Solid/Fin-ray and pneumatic.

• Plan TCP targets in RViz with KDL inverse kinematics and OMPL/RRTConnect.
• Use arm home/ready and gripper open/closed named states.
• Execute trajectories through ros2_control mock hardware and real trajectory
  controllers, with coupled mimic fingers and ordered controller activation.
• Keep collision checks for nonadjacent arm links and opposing fingers;
  exemptions cover rigid assemblies and directly connected moving assemblies.
• Enforce converted RCB software joint ranges for PAR6 and the maintained URDF
  ranges for PAROL6 in the in-memory planning instance. Saved models stay intact.
• Set editable demo speed/acceleration limits, explicitly separate from
  measured hardware capabilities.
• Download either MoveIt ZIP plus its matching URDF ZIP, or build from a source
  checkout with colcon. No duplicate mesh/model source is introduced.

Start with the MoveIt guide:

ros2 launch par6_moveit_config demo.launch.py end_effector:=msg jaws:=soft_tpu
ros2 launch parol6_moveit_config demo.launch.py end_effector:=ssg48 jaws:=fin_ray

The mock system follows commands ideally. It does not communicate with RCB or
simulate motor dynamics, contact forces, grip force or flexible jaw deformation.
The existing MuJoCo physics examples and native ROS 2 display launchers remain
available. MSG's empty closed planning preset retains a 0.5 mm/finger stand-off
from its known overlapping mathematical endpoint; SSG48 retains 0.1 mm/finger
before its face-contact endpoint. Pneumatic uses its actual endpoints. The
model limits are unchanged.

CI gates release publication on the portable regression suite, relocated ROS 2
display tests, and installed MoveIt planning/IK/collision/mock-execution tests
for Humble and Jazzy, including RViz screenshots. Model/data/docs remain
CC BY 4.0; launch/support code remains Apache-2.0.

Validation: 238 portable tests, 28 MoveIt integration cases and
48 native ROS display cases across the two distributions. The existing
692 tracked model/geometry/image files remain unchanged, with text line endings
normalized for comparison. The full authoring build and all ten ZIP extraction
checks also pass.