Copy example Objectives from Mimic Sim to Mujoco, with latest comments

[davetcoleman]

Copy in these PRs to new Mujoco config
#308
#307
#306
#305

[MikeWrock]

The mock hardware objectives use the key mock_hardware_objectives:
https://github.com/PickNikRobotics/moveit_studio_ur_ws/blob/pr_add_objectives_mujoco/src/picknik_ur_mock_hw_config/config/config.yaml#L27-L32

To add them to the mujoco config without having to duplicate (and maintain two versions of) the objective you can add additional library paths by modifying these lines:

  objective_library_paths:
    # You must use a unique key for each package.
    # The picknik_ur_base_config uses "core"
    mock_hardware_objectives:
      package_name: "picknik_ur_mock_hw_config"
      relative_path: "objectives"
    sim_objectives:
      package_name: "picknik_ur_mujoco_config"
      relative_path: "objectives"

[davetcoleman]

I don't know how to finish this PR, and do not currently have bandwidth, but I think these basic objectives to belong in our new example robot config package. Could someone finish this PR please?

Note the reason I copied these in was because i added a lot of new descriptions and comments to those objectives, and didn't want them to get forever lost in the mock hw robot config.

[dyackzan]

This is definitely not ready to merge, but it sounds like @bgill92 is assigned the issue for this: https://github.com/PickNikRobotics/moveit_studio/issues/8368.

I'll go ahead and note some changes that need to be made here:

• Move these objectives to a package (I think they are supposed to be in arm_on_rail_sim now since the mujoco config was renamed to that)
• Fix the waypoints

[dyackzan]

The "Look at Machine" waypoint does not exist outside of the mock sim config

[davetcoleman]

Replaced by #357 (review)