PlanningScene::getFrameTransform on subframe on attached collision object is not wrt world #1974
Description
Description
This PR (#1757) demonstrates the issue.
If you call getFrameTransform on a subframe of an attached collision object you get a relative transform instead of one wrt world like you do with collision objects that are not attached. This is inconsistent with what getFrameTransform normally returns and the returned type Eigen::Affine3d has no way of expressing what frame the transform is with respect to.