No parallel movement of gripper and arm (throwing object example)

[Kaiser1401]

Trying to get the throwing example running i realised that there is (no longer?) the possibility to open the gripper while the arm is moving. Essentially not throwing the cube.

The interesting part is, that the planning seems to be delayed. I have not enough insight in Moveit2 yet to figure out exactly where this is coming from unfortunately.

Found while working on Jazzy-Harmonic adaptation
(
AndrejOrsula/panda_ign_moveit2#34
#27
)

[AndrejOrsula]

This issue has likely been present in pymoveit2 since Humble.

• Related to how to open/close the gripper when the arm is moving  panda_ign_moveit2#31

I have never looked into it deeper, so I am unsure about the origin of this regression. For an application like this, maybe using moveit2_py bindings would be the better approach going forward.