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Simplify scene update that does not include new robot_state #8113

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Simplify scene update that does not include new robot_state

Simplify scene update that does not include new robot_state #8113

Run time

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Job Run time
rolling-ci + ccov
11m 42s
rolling-ci + ikfast + clang-tidy (delta)
12m 54s
humble-ci
6m 35s
jazzy-ci
6m 49s
38m 0s