Merge branch 'main' into pr/fix_moveit_py_sim

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h

@@ -75,7 +75,7 @@ struct ModelBasedPlanningContextSpecification
    * When the parameter "use_ompl_constrained_planning" is set to true in ompl_planning.yaml,
    * the path constraints are handled by this state space.
    *
-   * **Important**: because code often depents on the attribute `state_space_` to copy states from MoveIt to OMPL, we
+   * **Important**: because code often depends on the attribute `state_space_` to copy states from MoveIt to OMPL, we
    * must set `state_space_` to have type `ompl_interface::ConstrainedPlanningStateSpace`. The actual planning does
    * not happen with this `state_space_`, but it is used to create the `constrained_state_space_` of type
    * `ompl::base::ConstrainedStateSpace`. The latter is the one passed to OMPL simple setup (after creating a