From 8d34fda81b32ddbc097ae8c643f9fcfac0777e48 Mon Sep 17 00:00:00 2001
From: David Yackzan <dwyackzan@gmail.com>
Date: Thu, 15 Aug 2024 11:28:54 -0600
Subject: [PATCH] Remove Request Teloperation objective from ur site config

Now site/HW configs will inherit that objective from the base config
---
 .../objectives/request_teleoperation.xml      | 83 -------------------
 1 file changed, 83 deletions(-)
 delete mode 100644 src/picknik_ur_site_config/objectives/request_teleoperation.xml

diff --git a/src/picknik_ur_site_config/objectives/request_teleoperation.xml b/src/picknik_ur_site_config/objectives/request_teleoperation.xml
deleted file mode 100644
index 9f8f0dfc..00000000
--- a/src/picknik_ur_site_config/objectives/request_teleoperation.xml
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root BTCPP_format="4" main_tree_to_execute="Request Teleoperation">
-  <!--The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message.-->
-  <BehaviorTree ID="Request Teleoperation" _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective." _favorite="false" _hardcoded="false" _subtreeOnly="true">
-    <Control ID="Sequence">
-      <Action ID="Script" code="teleop_mode := 0"/>
-      <Control ID="Parallel" success_count="1" failure_count="1">
-        <Action ID="DoTeleoperateAction" enable_user_interaction="{enable_user_interaction}" user_interaction_prompt="{user_interaction_prompt}" initial_teleop_mode="{initial_teleop_mode}" current_teleop_mode="{teleop_mode}"/>
-        <Decorator ID="KeepRunningUntilFailure">
-          <Control ID="Sequence">
-            <!--Closing and opening the gripper-->
-            <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7">
-              <SubTree ID="Close Gripper"/>
-            </Decorator>
-            <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6">
-              <SubTree ID="Open Gripper"/>
-            </Decorator>
-            <!--Joint sliders interpolate to joint state-->
-            <Decorator ID="ForceSuccess" _while="teleop_mode == 5">
-              <Control ID="Sequence">
-                <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-                <Control ID="Fallback" name="root">
-                  <Control ID="Sequence">
-                    <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
-                    <SubTree ID="Interpolate to Joint State" _collapsed="false" target_joint_state="{target_joint_state}"/>
-                    <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
-                  </Control>
-                  <Control ID="Sequence">
-                    <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
-                    <Action ID="AlwaysFailure"/>
-                  </Control>
-                </Control>
-              </Control>
-            </Decorator>
-            <!--Interactive markers move to pose-->
-            <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
-              <Control ID="Sequence">
-                <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-                <Control ID="Fallback" name="root">
-                  <Control ID="Sequence">
-                    <Action ID="RetrievePoseParameter" timeout_sec="-1" pose="{target_pose}"/>
-                    <SubTree ID="Move to Pose" _collapsed="false" target_pose="{target_pose}"/>
-                    <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
-                  </Control>
-                  <Control ID="Sequence">
-                    <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
-                    <Action ID="AlwaysFailure"/>
-                  </Control>
-                </Control>
-              </Control>
-            </Decorator>
-            <!--Waypoint buttons move to joint state-->
-            <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
-              <Control ID="Sequence">
-                <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-                <Control ID="Fallback" name="root">
-                  <Control ID="Sequence">
-                    <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
-                    <SubTree ID="Move to Joint State" _collapsed="false" target_joint_state="{target_joint_state}"/>
-                    <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
-                  </Control>
-                  <Control ID="Sequence">
-                    <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
-                    <Action ID="AlwaysFailure"/>
-                  </Control>
-                </Control>
-              </Control>
-            </Decorator>
-            <!--Cartesian and joint jogging-->
-            <Control ID="Sequence" _while="teleop_mode == 2">
-              <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-              <Action ID="TeleoperateTwist" controller_name="servo_controller"/>
-            </Control>
-            <Control ID="Sequence" _while="teleop_mode == 1">
-              <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-              <Action ID="TeleoperateJointJog" controller_name="servo_controller"/>
-            </Control>
-          </Control>
-        </Decorator>
-      </Control>
-    </Control>
-  </BehaviorTree>
-</root>