WritePoseToYAML->SavePoseToYaml (#167)

Co-authored-by: Sebastian Castro <[email protected]>
PickNikRobotics · Jan 5, 2024 · 4c74fe6 · 4c74fe6
1 parent 60de026
commit 4c74fe6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/picknik_ur_gazebo_config/objectives/teach_apriltag_grasp_offset.xml b/src/picknik_ur_gazebo_config/objectives/teach_apriltag_grasp_offset.xml
@@ -6,7 +6,7 @@
             <SubTree ID="Sample April Tag" num_samples="5" tag_id="1" apriltag_config="apriltag_detection_config.yaml" max_distance="0.02" max_rotation="0.2" avg_pose="{tag_pose}"/>
             <Action ID="TransformPoseFrame" input_pose="{tag_pose}" target_frame_id="world" output_pose="{tag_pose_world}"/>
             <Action ID="CalculatePoseOffset" source_pose="{tag_pose_world}" destination_pose="{user_grasp_pose}" source_to_destination_pose="{tag_to_user_grasp_pose}"/>
-            <Action ID="WritePoseToYAML" yaml_filename="apriltag1_grasp_offset" namespace="GraspOffset" pose="{tag_to_user_grasp_pose}"/>
+            <Action ID="SavePoseToYaml" yaml_filename="apriltag1_grasp_offset" namespace="GraspOffset" message="{tag_to_user_grasp_pose}"/>
         </Control>
     </BehaviorTree>
 </root>