Fix IsForceWithinThreshold usage in XMLs (#114)

PickNikRobotics · Oct 11, 2023 · 9756287 · 9756287
1 parent c7f582c
commit 9756287
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/src/picknik_ur_site_config/objectives/close_cabinet_door.xml b/src/picknik_ur_site_config/objectives/close_cabinet_door.xml
@@ -21,7 +21,7 @@
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
                     <Decorator ID="Inverter">
-                        <Condition ID="IsForceWithinThreshold" parameters="{parameters}"/>
+                        <Action ID="IsForceWithinThreshold" parameters="{parameters}"/>
                     </Decorator>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>

diff --git a/src/picknik_ur_site_config/objectives/push_button.xml b/src/picknik_ur_site_config/objectives/push_button.xml
@@ -21,7 +21,7 @@
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
                     <Decorator ID="Inverter">
-                        <Condition ID="IsForceWithinThreshold" parameters="{parameters}"/>
+                        <Action ID="IsForceWithinThreshold" parameters="{parameters}"/>
                     </Decorator>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>

diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -59,7 +59,7 @@
                 <Action ID="SaveCurrentState" saved_robot_state="{pre_approach_robot_state}" />
                 <Control ID="Parallel" success_count="1" failure_count="1">
                     <Decorator ID="Inverter">
-                        <Condition ID="IsForceWithinThreshold" parameters="{parameters}"/>
+                        <Action ID="IsForceWithinThreshold" parameters="{parameters}"/>
                     </Decorator>
                     <Action ID="ExecuteMTCTask" solution="{push_solution}"/>
                 </Control>