remove transformation of point cloud into camera optical frame

PickNikRobotics · Apr 17, 2024 · 0261acd · 0261acd
1 parent b5475f8
commit 0261acd
Showing 1 changed file with 0 additions and 1 deletion.
diff --git a/src/picknik_ur_site_config/objectives/pick_object.xml b/src/picknik_ur_site_config/objectives/pick_object.xml
@@ -6,7 +6,6 @@
             <Control ID="Sequence">
                 <Action ID="GetPointsFromUser" view_name="/wrist_mounted_camera/color/image_raw" point_names="grasp_pose" point_prompts="Select the object you wish to pick" pixel_coords="{pixel_coords}"/>
                 <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
-                <Action ID="TransformPointCloudFrame" output_cloud="{point_cloud}" target_frame="wrist_mounted_camera_color_optical_frame" input_cloud="{point_cloud}"/>
                 <Action ID="GetPoseFromPixelCoords" point_cloud="{point_cloud}" pixel_coords="{pixel_coords}" downsample_fraction="0.1" neighbor_radius="0.1" output_poses="{output_poses}"/>
                 <Action ID="AdjustPoseWithIMarker" prompts="Adjust IMarker to desired pose" initial_poses="{output_poses}" adjusted_poses="{adjusted_poses}"/>
             </Control>