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Simplify scene update that does not include new robot_state (#3206) #8119

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Simplify scene update that does not include new robot_state (#3206)

Simplify scene update that does not include new robot_state (#3206) #8119

Run time

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Job Run time
rolling-ci + ccov
11m 11s
rolling-ci + ikfast + clang-tidy (delta)
52m 4s
humble-ci
6m 47s
jazzy-ci
6m 58s
1h 17m 0s