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fix ModifyPlanningScene: pass stage properties to callback
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@ -110,8 +110,6 @@ InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool inver
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{
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planning_scene::PlanningScenePtr scene = from.scene()->diff();
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InterfaceState result(scene);
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// initialize properties from input state
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result.properties() = from.properties();
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// attach/detach objects
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for (const auto &pair : attach_objects_)
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@ -122,7 +120,7 @@ InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool inver
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enableCollisions(*scene, pairs, invert);
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if (callback_)
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callback_(scene, result.properties());
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callback_(scene, properties());
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return result;
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}
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