Felix von Drigalski

@gokul-gokz Are you still working with MoveIt and will get a chance to give this a do-over?

Just for the record, this change is only for readability. When I first read through these 150 lines, I kept forgetting/wondering what all these shapes and poses will be used...

I can follow that argument, but [the line where the object is attached](https://github.com/ros-planning/moveit/pull/1489/files#diff-8aac12a54166575f8df07630635ac4ffR1664) is almost identical in meaning to me. I considered `shapes_to_attach`, `shape_poses_to_attach` etc. but that would make less...

I rebased it on master locally and added the comment as a suggestion. It is still good to go. You can either merge after adding the suggestion above or add...

I would like some feedback here. There is a function called `msgToAttachedBody` in `conversions.cpp` in `moveit_core/robot_state` that does almost all of the same parsing that `processAttachedCollisionObject` does in `planning_scene.cpp`. It...

I don't know why these tests fail, but this builds in my `master-source` container, passes `pre-commit` and works on our dual arm system.

The last two commits weren't tested on real robots, but they should clean things up a lot.

@bhomberg Could you rebase this on master to trigger a new build? This was so close to getting merged.

@henningkayser Did anything happen about this since it was posted? If yes, could you update to avoid potentially duplicating work?

We have implemented something similar that we plan to reshape into this PR soon. Just saying in case someone was planning to tackle this during the holidays.