[MSA] SRDF Setup

[DLu]

Description

• Ports the remaining SRDF configuration steps (PlanningGroups/RobotPoses/EndEffectors/PassiveJoints) to the new framework
• Makes some changes to the existing SRDF configuration steps (DefaultCollisions/VirtualJoints) to take advantage of shared code.

Squashed Bug

Edit: I fixed this with 5f77106

As mentioned in MIGRATION.md there is currently a bug that I can't figure out. Steps to reproduce:

• Start MSA with new configuration
• Configure a PlanningGroup
• Try to make a pose for your new Group. It should give you an error because it can't find the associated JointModelGroup

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

[mergify]

Please target the main branch for development, we will backport the changes to feature/msa for you if approved and if they don't break API.

[vatanaksoytezer]

@DLu thanks a ton for the PR. I'll review this tomorrow and get back to you. In the meantime do we want to merge immediately with the bug you mentioned or hold until it's resolved. It seemed critical enough to me.

[DLu]

Nah, let's review and investigate the bug here

[codecov]

Codecov Report

Merging #1057 (5f77106) into feature/msa (dc80acc) will not change coverage.
The diff coverage is n/a.

❗ Current head 5f77106 differs from pull request most recent head 5528a59. Consider uploading reports for the commit 5528a59 to get more accurate results

@@             Coverage Diff              @@
##           feature/msa    #1057   +/-   ##
============================================
  Coverage        57.86%   57.86%           
============================================
  Files              307      307           
  Lines            25918    25918           
============================================
  Hits             14996    14996           
  Misses           10922    10922           

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[vatanaksoytezer]

clang-tidy has a few complaints @DLu

[DLu]

Fixed the major bug. Ready for review.

[vatanaksoytezer]

I just tested this and looks good