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Nested parameters were never directly supported. You could get around by having slashes in their names. This means if you send a goal referring to alive_engine/backwards, it should work. But there is no explicit logic in play_motion to support nested motions.
Is there a real value in having nested motions as opposed to just prefixing the motion names?
Given the following parameters in the param server:
getMotionIds() will return [alive_engine, wave]. But alive_engine is not a motion, but a namespace that contains other motions.
I believe it should:
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