Intrinsic MoveIt planning service

A cluster is optional for the first planning request

The README offers an offline route with mock hardware. Create a ROS workspace, import either lyrical.repos or jazzy.repos, resolve dependencies with rosdep and build the planning service and both skills with colcon. Launch with use_mock_hardware:=true and expect_collision_objects:=false; without the latter setting, the node can wait for a scene that no cluster is providing. [S001]

The example then inserts a small collision box into the planning scene and requests grasps for it. That gives a concrete first check: inspect returned grasp candidates and pre-grasp poses before involving a physical arm. The README also provides a motion-planning service request; the responses shown are upstream examples, not results reproduced here. [S001]

Connecting Core adds scene and transport requirements

Connected mode requires the workcell's flowstate_ros_bridge, including configuration for transforms and joint states, and a Zenoh connection on port 7447. Simply starting the offline node does not establish synchronization with an Intrinsic workcell. The README identifies Core as the primary deployment environment and a separate Flowstate route for licensed users. [S001]

We reviewed a commit snapshot, with no published stable release found. The repository calls out active development and future work on abstract hardware definitions. Its Apache-2.0 root license covers repository software; external dependencies and hardware geometry need their own scope checks. No installation, plan-quality benchmark or hardware execution was performed for this profile. [S001] [S002] [S090]