Replan b15 that has a difficult reorient

[yck011522]

b15 has a difficult reorient move.
However, in practice, we cannot lift the beam with the robot and reorient it due to robot payload. Therefore it is possible to skip the reorientation move (operator will attach the tool in top grasp position) and the subsequent free move (operator will jog the robot near the start state of the next move)

The reorient move A183_M2 and subsequent free move A186_M0 will not be executed.

In order to perform the planning. We need to :

• Plan A183_M0, A183_M1 separately. Then force plan A183_M2 as free_move.
• Plan A186_M1 and check the IK to be good. Replan if needed.
• Manually delete neighbouring b16's first free move A195_M0 because the start state is constrained.
• Plan entire b15 with --keep_planned_movement flag.
• Plan A195_M0.
• Check state for b15 with --verify_plan