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adapted MoveTo api change. joint_pose -> named_joint_pose
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@ -94,7 +94,7 @@ SimpleGraspBase::SimpleGraspBase(const std::string& name, bool forward)
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return boost::any(jmg->getName());
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return boost::any(jmg->getName());
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});
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});
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insert(std::move(move), insertion_position);
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insert(std::move(move), insertion_position);
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exposePropertyOfChildAs(insertion_position, "joint_pose", forward ? "grasp" : "pregrasp");
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exposePropertyOfChildAs(insertion_position, "named_joint_pose", forward ? "grasp" : "pregrasp");
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}
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}
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{
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{
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auto attach = std::make_unique<ModifyPlanningScene>(forward ? "attach object" : "detach object");
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auto attach = std::make_unique<ModifyPlanningScene>(forward ? "attach object" : "detach object");
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