Hi, we are downstream users of the .scene format for describing collision scenes. Today, I've noticed that with the latest MoveIt from binary on Noetic, our unit tests and operational code that relied on scene loading started to fail (indicating a parsing error for the translation component).

It turns out that this is due to #2037 and documented there in the migration guide for Noetic:

• Planning scene geometry text files (.scene) have changed format. Add a line 0 0 0 0 0 0 1 under each line with an asterisk to upgrade old files if required.

The issue is that #2037 was released into binaries last month as part of ros/rosdistro#31147 (v1.1.6), following an earlier released version (v1.1.5) that used the old API.

One solution would be to update all .scene files following the migration guide in our code, with other end-users having to do the same (with the implication that we'd have to maintain separate .scene files for Melodic). However, since this targeted an already released distro, I wonder if adding backwards-compatibility (check number of lines for this object, if too few, use default object pose) was on option? Alas, I don't have cycles to contribute this myself.

Many thanks,
Wolfgang