Update Pick Object and Place Object in the arm_on_rail_sim to r…

…emove supervised autonomy Behaviors (#348) * Initial commit * Remove comments that weren't needed anymore
PickNikRobotics · Aug 15, 2024 · be4bd5b · be4bd5b
1 parent eb0e4ef
commit be4bd5b
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/src/arm_on_rail_sim/objectives/pick_object.xml b/src/arm_on_rail_sim/objectives/pick_object.xml
@@ -6,10 +6,8 @@
       <SubTree ID="Open Gripper"/>
       <Control ID="Sequence">
         <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-        <Action ID="CreateStampedPose" orientation_xyzw="0;1;0;0" position_xyz="0.01;.75;0.525"/>
-        <!--Create a vector of poses to match the input of AdjustPoseWithIMarker-->
-        <Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{initial_poses}"/>
-        <Action ID="AdjustPoseWithIMarker" prompts="Adjust IMarker to desired pose" initial_poses="{initial_poses}" adjusted_poses="{pose_vector}"/>
+        <Action ID="CreateStampedPose" orientation_xyzw="0;1;0;0" position_xyz="0.01;.75;0.515"/>
+        <Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{pose_vector}"/>
       </Control>
       <SubTree ID="Pick first object in vector" pose_vector="{pose_vector}" _collapsed="false"/>
     </Control>

diff --git a/src/arm_on_rail_sim/objectives/place_object.xml b/src/arm_on_rail_sim/objectives/place_object.xml
@@ -5,10 +5,8 @@
     <Control ID="Sequence" name="root">
       <Control ID="Sequence">
         <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
-        <Action ID="CreateStampedPose" orientation_xyzw="0;1;0;0" position_xyz="0.01;.75;0.525"/>
-        <!--Create a vector of poses to match the input of AdjustPoseWithIMarker-->
-        <Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{initial_poses}"/>
-        <Action ID="AdjustPoseWithIMarker" adjusted_poses="{corrected_poses}" prompts="Adjust place position"/>
+        <Action ID="CreateStampedPose" orientation_xyzw="0;1;0;0" position_xyz="0.01;.75;0.5.15"/>
+        <Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{corrected_poses}"/>
       </Control>
       <!--Use the ForEach decorator to get a pose from our vector of poses-->
       <SubTree ID="Place first object in vector" pose_vector="{corrected_poses}" _collapsed="false"/>