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Do not switch object and shape poses of attached objects with subframes #3145

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Do not switch object and shape poses of attached objects with subframes #3145

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438609f
Do not switch object and shape poses of attached objects with subframes
ANogin Dec 2, 2024
1a0ec71
Fix a linter error
ANogin Dec 3, 2024
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2 changes: 1 addition & 1 deletion moveit_core/planning_scene/src/planning_scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1817,7 +1817,7 @@ bool PlanningScene::shapesAndPosesFromCollisionObjectMessage(const moveit_msgs::
shape_poses.reserve(num_shapes);

bool switch_object_pose_and_shape_pose = false;
if (num_shapes == 1 && moveit::core::isEmpty(object.pose))
if (num_shapes == 1 && object.subframe_poses.empty() && moveit::core::isEmpty(object.pose))
{
// If the object pose is not set but the shape pose is, use the shape's pose as the object pose.
switch_object_pose_and_shape_pose = true;
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