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MoveTo Cartesian Point: bug fix
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@ -152,7 +152,7 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
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target_point = frame * target_point;
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target_point = frame * target_point;
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// retain link orientation
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// retain link orientation
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Eigen::Affine3d target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
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target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
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target_eigen.translation() = target_point;
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target_eigen.translation() = target_point;
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}
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}
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