From f6ed587cda8890727f8d2529160fbf63236f130a Mon Sep 17 00:00:00 2001
From: Alex Moriarty <alex.moriarty@picknik.ai>
Date: Fri, 8 Dec 2023 17:04:40 -0400
Subject: [PATCH] Remove duplicate Objective (#142)

This exists in the base picknik_ur_site_config

fixes https://github.com/PickNikRobotics/moveit_studio/issues/5537

Signed-off-by: Alex Moriarty <alex.moriarty@picknik.ai>
---
 .../objectives/open_door_affordance.xml       | 36 -------------------
 1 file changed, 36 deletions(-)
 delete mode 100644 src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml

diff --git a/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml b/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml
deleted file mode 100644
index 5828dbb0..00000000
--- a/src/picknik_ur_gazebo_config/objectives/open_door_affordance.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-<root BTCPP_format="4" main_tree_to_execute="Open Cabinet Door">
-    <BehaviorTree ID="Open Cabinet Door" _description="Open a cabinet door by grasping and pulling its handle">
-        <Control ID="Sequence" name="Setup">
-            <Action ID="LoadObjectiveParameters" config_file_name="open_door_affordance_config.yaml" parameters="{parameters}" />
-            <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_end" parameter_value="{hinge_axis_pose_end}" />
-            <Action ID="GetPoseFromUser" parameter_name="process_door_selection.hinge_axis_pose_start" parameter_value="{hinge_axis_pose_start}" />
-            <Action ID="GetPoseFromUser" parameter_name="process_door_selection.grasp_pose" parameter_value="{grasp_pose}" />
-            <Action ID="GetHingeAxisFromSurfaceSelection" grasp_pose="{grasp_pose}" hinge_axis_pose_end="{hinge_axis_pose_end}" hinge_axis_pose_start="{hinge_axis_pose_start}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" target_grasp_pose="{grasp_pose}" />
-            <Control ID="Sequence" name="OpenDoorAffordanceMain">
-                <Action ID="InitializeMTCTask" task_id="open_door_affordance" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{open_door_affordance_task}" />
-                <Action ID="SetupMTCCurrentState" task="{open_door_affordance_task}" />
-                <Action ID="SetupMTCAffordanceTemplate" grasp_pose="{grasp_pose}" name="SetupMTCOpenDoorAffordance" parameters="{parameters}" screw_axis_pose="{screw_axis_pose}" screw_origin_pose="{screw_origin_pose}" task="{open_door_affordance_task}" />
-                <Action ID="PlanMTCTask" solution="{open_door_affordance_solution}" task="{open_door_affordance_task}" />
-                <Fallback name="wait_for_approval_if_user_available">
-                    <Inverter>
-                        <Action ID="IsUserAvailable" />
-                    </Inverter>
-                    <Action ID="WaitForUserTrajectoryApproval" solution="{open_door_affordance_solution}" />
-                </Fallback>
-                <!-- Whether task execution succeeds or fails, reset the controllers to disable admittance control. -->
-                <Control ID="IfThenElse" name="execute_and_reset_controllers">
-                    <!-- IF task execution succeeds -->
-                    <Action ID="ExecuteMTCTask" solution="{open_door_affordance_solution}" />
-                    <!-- THEN reset the controllers -->
-                    <Action ID="ActivateControllers" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" />
-                    <!-- ELSE reset the controllers and return failure -->
-                    <Control ID="Sequence">
-                        <Action ID="ActivateControllers" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" />
-                        <Action ID="AlwaysFailure" />
-                    </Control>
-                </Control>
-            </Control>
-        </Control>
-    </BehaviorTree>
-</root>