Fix trailing spaces issue. Change input vector of poseStamped decorat…

…or to take in adjusted_poses.
PickNikRobotics · Apr 8, 2024 · 63267d2 · 63267d2
1 parent c59e0e0
commit 63267d2
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Showing 2 changed files with 8 additions and 9 deletions.
diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag1_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag1_grasp_offset.yaml
@@ -1,11 +1,10 @@
 GraspOffset:
   position:
-    x: -0.1
-    y: 0.0
-    z: 0.05
+    x: -0.015973443715863511
+    y: 0.37998284887261818
+    z: 0.22411992909689027
   orientation:
-    x: 0.707
-    y: -0.707
-    z: 0.0
-    w: 0.0
-
+    x: -0.68256336413565954
+    y: 0.73028085631723738
+    z: -0.027995411500013567
+    w: -0.0036581103480567067
diff --git a/src/picknik_ur_site_config/objectives/pick_object.xml b/src/picknik_ur_site_config/objectives/pick_object.xml
@@ -12,7 +12,7 @@
             <Action ID="LoadObjectiveParameters" config_file_name="pick_object_config.yaml" parameters="{parameters}"/>
             <Action ID="InitializeMTCTask" task_id="pick_object" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{pick_object_task}"/>
             <Action ID="SetupMTCCurrentState" task="{pick_object_task}"/>
-            <Decorator ID="ForEachPoseStamped" vector_in="{output_poses}" out="{grasp_pose}">
+            <Decorator ID="ForEachPoseStamped" vector_in="{adjusted_poses}" out="{grasp_pose}">
                 <Control ID="Sequence">
                     <Action ID="SetupMTCPickObject" grasp_pose="{grasp_pose}" task="{pick_object_task}" parameters="{parameters}"/>
                     <Action ID="PlanMTCTask" solution="{pick_object_solution}" task="{pick_object_task}"/>