diff --git a/src/grasp_filter.cpp b/src/grasp_filter.cpp
index cbe5e3c..e81a914 100644
--- a/src/grasp_filter.cpp
+++ b/src/grasp_filter.cpp
@@ -592,8 +592,8 @@ bool GraspFilter::findIKSolution(std::vector<double>& ik_solution, const IkThrea
   ik_thread_struct->planning_scene_->getCurrentState().getAttachedBodies(attached_bodies);
 
   for (const robot_state::AttachedBody* ab : attached_bodies)
-    state.attachBody(ab->getName(), ab->getShapes(), ab->getFixedTransforms(), ab->getTouchLinks(),
-                     ab->getAttachedLinkName(), ab->getDetachPosture());
+    state.attachBody(ab->getName(), ab->getPose(), ab->getShapes(), ab->getShapePoses(), ab->getTouchLinks(),
+                     ab->getAttachedLinkName(), ab->getDetachPosture(), ab->getSubframes());
 
   bool ik_success = state.setFromIK(grasp_candidate->grasp_data_->arm_jmg_, ik_thread_struct->ik_pose_.pose,
                                     ik_thread_struct->timeout_, constraint_fn);
diff --git a/src/grasp_planner.cpp b/src/grasp_planner.cpp
index bcb24e8..af63203 100644
--- a/src/grasp_planner.cpp
+++ b/src/grasp_planner.cpp
@@ -346,8 +346,9 @@ bool GraspPlanner::computeCartesianWaypointPath(GraspCandidatePtr& grasp_candida
         std::vector<const robot_state::AttachedBody*> attached_bodies;
         start_state_with_body->getAttachedBodies(attached_bodies);
         for (const auto& ab : attached_bodies)
-          start_state_copy->attachBody(ab->getName(), ab->getShapes(), ab->getFixedTransforms(), ab->getTouchLinks(),
-                                       ab->getAttachedLinkName(), ab->getDetachPosture(), ab->getSubframeTransforms());
+          start_state_copy->attachBody(ab->getName(), ab->getPose(), ab->getShapes(), ab->getShapePoses(),
+                                       ab->getTouchLinks(), ab->getAttachedLinkName(), ab->getDetachPosture(),
+                                       ab->getSubframes());
         constraint_fn = boost::bind(&isGraspStateValid, scene.get(), collision_checking_verbose,
                                     only_check_self_collision, visual_tools_, _1, _2, _3);
       }