配置（Configuration） move_group 作为ROS节点，通过ROS参数服务器获取三类信息： URDF：从 robot_description 参数加载机器人URDF模型。 SRDF：从 robot_description_semantic 参数加载语义描述文件（SRDF），该文件通常由MoveIt Setup Assistant生成。

None that came before, none that live today, and none that come tomorrow can walk and talk and move and think exactly like me. All men are my brothers yet I am different from each. I am a unique ...