[jog_arm] Add a binary collision check #1978
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moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp
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moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/status_codes.h
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moveit_experimental/moveit_jog_arm/config/ur_simulated_config.yaml
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henningkayser
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Add a binary collision check to the distance-based collision check. This helps with edge cases like starting inside another body and reducing overall flakiness.
Also, delete the parameter hard_stop_singularity_threshold which hasn't been used in some time.