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
index 31181961..f6c68b5d 100644
--- 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>