From e06e2fc5f9769fd4445a0348c703c675b5da8f56 Mon Sep 17 00:00:00 2001
From: Erik Holum <erik.holum@picknik.ai>
Date: Wed, 19 Apr 2023 14:52:25 -0400
Subject: [PATCH] Move Pick and Place to Site Config, Remove Sample Objectives
 (#6)

---
 .../objectives/3_waypoint_pick_and_place.xml       |  0
 .../objectives/say_hello.xml                       |  8 --------
 .../objectives/wave_hello.xml                      | 14 --------------
 3 files changed, 22 deletions(-)
 rename src/{picknik_ur_base_config => picknik_ur_site_config}/objectives/3_waypoint_pick_and_place.xml (100%)
 delete mode 100644 src/picknik_ur_site_config/objectives/say_hello.xml
 delete mode 100644 src/picknik_ur_site_config/objectives/wave_hello.xml

diff --git a/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_site_config/objectives/3_waypoint_pick_and_place.xml
similarity index 100%
rename from src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
rename to src/picknik_ur_site_config/objectives/3_waypoint_pick_and_place.xml
diff --git a/src/picknik_ur_site_config/objectives/say_hello.xml b/src/picknik_ur_site_config/objectives/say_hello.xml
deleted file mode 100644
index f7eac531..00000000
--- a/src/picknik_ur_site_config/objectives/say_hello.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-  <root BTCPP_format="4" main_tree_to_execute="Say Hello">
-    <BehaviorTree ID="Say Hello" _description="Will always succeed and log the error message Hello Woold!">
-        <Sequence>
-            <Action ID="HelloWorld"/>
-        </Sequence>
-    </BehaviorTree>
-</root>
diff --git a/src/picknik_ur_site_config/objectives/wave_hello.xml b/src/picknik_ur_site_config/objectives/wave_hello.xml
deleted file mode 100644
index 86665970..00000000
--- a/src/picknik_ur_site_config/objectives/wave_hello.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-  <root BTCPP_format="4" main_tree_to_execute="Wave Hello">
-    <BehaviorTree ID="Wave Hello" _description="Waves the end-effector side to side from the Home waypoint">
-        <Sequence>
-            <Action ID="RetrieveWaypoint" waypoint_name="Home" waypoint_joint_state="{target_joint_state}"/>
-            <Action ID="InitializeMTCTask" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{mtc_task}"/>
-            <Action ID="SetupMTCCurrentState" task="{mtc_task}"/>
-            <Action ID="SetupMTCMoveToJointState" planning_group_name="manipulator" joint_state="{target_joint_state}" task="{mtc_task}"/>
-            <Action ID="SetupMTCWaveHand" task="{mtc_task}"/>
-            <Action ID="PlanMTCTask" task="{mtc_task}" solution="{mtc_solution}"/>
-            <Action ID="ExecuteMTCTask" solution="{mtc_solution}"/>
-        </Sequence>
-    </BehaviorTree>
-</root>