# Revision history [back]

### PlanningScene Message fields

In the PlanningScene message definition there is a field:

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms


My understanding is that the robot state (or whatever other field in the message) will be transformed (translated, rotated) by the amount specified in the fixed_frame_transforms (chaining?)

Is this correct? Is this a way to plan starting from a robot position which is not the real one?

 2 retagged

### PlanningScene Message fields

In the PlanningScene message definition there is a field:

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms


My understanding is that the robot state (or whatever other field in the message) will be transformed (translated, rotated) by the amount specified in the fixed_frame_transforms (chaining?)

Is this correct? Is this a way to plan starting from a robot position which is not the real one?

 3 retagged

### PlanningScene Message fields

In the PlanningScene message definition there is a field:

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms


My understanding is that the robot state (or whatever other field in the message) will be transformed (translated, rotated) by the amount specified in the fixed_frame_transforms (chaining?)

Is this correct? Is this a way to plan starting from a robot position which is not the real one?