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more todo
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@ -122,6 +122,7 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
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}
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// Cartesian targets require the link name
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// TODO: use ik_frame property as in ComputeIK
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std::string link_name = props.get<std::string>("link");
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const moveit::core::LinkModel* link;
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if (link_name.empty())
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