Nested composite instruction meta-information not respected in Trajopt planner

[marip8]

The Trajopt planner does not appear to support different profiles and manipulator infos for nested composites because the input instructions are flattened, the composite ManipulatorInfo object is only created from the highest level composite, and the only composite profile created is extracted using the profile name in the highest level composite.

tesseract_planning/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp

Line 235 in f966455

const tesseract_common::ManipulatorInfo& composite_mi = request.instructions.getManipulatorInfo();

tesseract_planning/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp

Line 172 in f966455

auto instructions_flattened = flattenProgram(request.instructions);

tesseract_planning/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp

Lines 634 to 636 in f966455

	profile = getProfileString(name_, request.instructions.getProfile(), request.composite_profile_remapping);
	TrajOptCompositeProfile::ConstPtr cur_composite_profile = getProfile<TrajOptCompositeProfile>(
	name_, profile, *request.profiles, std::make_shared<TrajOptDefaultCompositeProfile>());

I'm not sure if this used to be supported in the past, but we have had conversations recently about this being a valuable and important capability for Trajopt. If this is not a bug or feature regression, we should consider handling this more appropriately in the upcoming refactor of the motion planners. Maybe we only support a single layer of composite nesting within request.instructions to allow for the specification of different profiles or different motion groups/TCPs for groups of waypoints in the same plan