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Just to clarify on my particular issue. I was sending a trajectory with an empty start state (which defaults to use the current state) BUT it seems that the move_group doesn't keep track of objects attached through the planning_scene (am I right here?). I was able to fix my issue by pulling the attached objects from a planning_scene_interface and adding them to the appropriate field of my DisplayTrajectory message. The attached objects now show up.

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