From 0ef2dc78d043ab00a03e7d5c3ef7c07c81a16b42 Mon Sep 17 00:00:00 2001
From: marqrazz <marq.razz@gmail.com>
Date: Mon, 2 Oct 2023 11:18:49 -0600
Subject: [PATCH] cleanup and add defaults for tags 2 & 3

---
 .../objectives/apriltag2_grasp_offset.yaml                | 8 ++++++++
 .../objectives/apriltag3_grasp_offset.yaml                | 8 ++++++++
 .../objectives/tree_nodes_model.xml                       | 4 ++--
 3 files changed, 18 insertions(+), 2 deletions(-)
 create mode 100644 src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml
 create mode 100644 src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml

diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml
new file mode 100644
index 00000000..bee43d3c
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/objectives/apriltag2_grasp_offset.yaml
@@ -0,0 +1,8 @@
+GraspOffset:
+  x: -0.1
+  y: 0.0
+  z: 0.05
+  qx: 0.707
+  qy: -0.707
+  qz: 0.0
+  qw: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml b/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml
new file mode 100644
index 00000000..bee43d3c
--- /dev/null
+++ b/src/picknik_ur_gazebo_config/objectives/apriltag3_grasp_offset.yaml
@@ -0,0 +1,8 @@
+GraspOffset:
+  x: -0.1
+  y: 0.0
+  z: 0.05
+  qx: 0.707
+  qy: -0.707
+  qz: 0.0
+  qw: 0.0
diff --git a/src/picknik_ur_gazebo_config/objectives/tree_nodes_model.xml b/src/picknik_ur_gazebo_config/objectives/tree_nodes_model.xml
index 4296b7e2..eee414d6 100644
--- a/src/picknik_ur_gazebo_config/objectives/tree_nodes_model.xml
+++ b/src/picknik_ur_gazebo_config/objectives/tree_nodes_model.xml
@@ -3,11 +3,11 @@
     <SubTree ID="Sample April Tag">
         <description>
           <p>
-              Samples the pose of an Apriltag and returns the average measurement.
+              Samples the pose of an AprilTag and returns the average measurement.
           </p>
         </description>
         <input_port name="num_samples" default="1">The number of times to sample the pose.</input_port>
-        <input_port name="tag_id" default="0">The Apriltag ID to detect.</input_port>
+        <input_port name="tag_id" default="0">The AprilTag ID to detect.</input_port>
         <input_port name="apriltag_config" default="apriltag_detection_config.yaml">The configuration file for detecting AprilTags.</input_port>
         <input_port name="max_distance" default="0.02">The maximum distance allow between the average pose and the new sample (Euclidean distance between pose positions).</input_port>
         <input_port name="max_rotation" default="0.2">The maximum angle allow between the average pose and the new sample (shortest angle between two pose quaternions).</input_port>