fix planning python scene namespacing

[PeterMitrano]

Description

fix planning python scene namespacing and add a test for it. Fixes #2346

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[PeterMitrano]

Not sure what to do about the copyright statement. I put my name there but left everything else as is

[v4hn]

Thanks! Please consider my inline comments so we can merge this soon.

[v4hn]

If CI is happy, then so am I.

Thanks for taking the time to add a respective test!

[PeterMitrano]

you'll probably want to squash before merging, lots of silly little commits here. Thanks for the speedy review! BTW, I liked your planar pushing IROS paper from this year :)

[codecov]

Codecov Report

Merging #2347 into master will decrease coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2347      +/-   ##
==========================================
- Coverage   56.73%   56.71%   -0.01%     
==========================================
  Files         281      281              
  Lines       25453    25457       +4     
==========================================
- Hits        14437    14435       -2     
- Misses      11016    11022       +6     

Impacted Files	Coverage Δ
.../ompl_interface/src/detail/constrained_sampler.cpp	43.59% <0.00%> (-17.94%)	⬇️
...s/planning_interface/moveit_cpp/src/moveit_cpp.cpp	64.17% <0.00%> (-0.24%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.32% <0.00%> (-0.20%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	46.24% <0.00%> (+0.10%)	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	76.96% <0.00%> (+0.44%)	⬆️
...on/pick_place/src/approach_and_translate_stage.cpp	73.39% <0.00%> (+0.81%)	⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp	75.00% <0.00%> (+0.97%)	⬆️

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[v4hn]

you'll probably want to squash before merging, lots of silly little commits here.

Yes, that's documented policy here 😎

Thanks for the speedy review!

I felt obliged to do that after talking you into it. :-)

BTW, I liked your planar pushing IROS paper from this year :)

Same to you for better planning on rope handling! 👍

[welcome]

Congrats on getting your first MoveIt pull request merged and improving open source robotics!