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Is there an actual link on your robot called "link_name"? If not, this code fragment will not actually do anything - you must specify a valid link that's associated with your robot to have the AttachedObject take effect. This link need not actually touch the object, but when you update the position of that link it will also update the position of any attached bodies. Add to the 'touch_links' any additional links that it's ok for the attached object to contact - if you don't do this for all links that will be in constant contact with the object then planning won't work, as every state will be in collision.
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