From 0261acda9dd0706d6d9e6184012c6a41fe5950dd Mon Sep 17 00:00:00 2001
From: Joe Schornak <joe.schornak@gmail.com>
Date: Wed, 17 Apr 2024 17:32:06 -0400
Subject: [PATCH] remove transformation of point cloud into camera optical
 frame

---
 src/picknik_ur_site_config/objectives/pick_object.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/picknik_ur_site_config/objectives/pick_object.xml b/src/picknik_ur_site_config/objectives/pick_object.xml
index 6b6649ce..22a2f1b9 100644
--- 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>