revert objective changes

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
PickNikRobotics · Jul 30, 2024 · eb054f6 · eb054f6
1 parent 14203ba
commit eb054f6
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Showing 3 changed files with 12 additions and 26 deletions.
diff --git a/src/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
@@ -1,12 +1,7 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root BTCPP_format="4" main_tree_to_execute="Clear Snapshot">
-  <!--//////////-->
-  <BehaviorTree ID="Clear Snapshot" _description="Clear the point cloud snapshot">
-    <Action ID="ClearSnapshot"/>
-    <Action ID="CreateStringMessage" data="Hello!!!"/>
-    <Action ID="TriggerPStopResetService"/>
-    <Action ID="CreateTimeMessage" time="{stamp}" sec="10" nanosec="5"/>
-    <Action ID="CreateHeaderMessage" frame_id="base_frame"/>
-    <Action ID="CreateJointStateMessage" name_="&quot;joint_1&quot;;&quot;joint_2&quot;;&quot;joint_3&quot;" velocity="0;0;0" position="0;0;0" effort="0;0;0" joint_state="{joint_state}"/>
-  </BehaviorTree>
+<?xml version="1.0"?>
+  <root BTCPP_format="4" main_tree_to_execute="Clear Snapshot">
+    <!-- ////////// -->
+    <BehaviorTree ID="Clear Snapshot" _description="Clear the point cloud snapshot">
+        <Action ID="ClearSnapshot" />
+    </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_base_config/objectives/close_gripper.xml b/src/picknik_ur_base_config/objectives/close_gripper.xml
@@ -1,16 +1,8 @@
-<?xml version='1.0' encoding='UTF-8'?>
+<?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Close Gripper">
-  <BehaviorTree ID="Close Gripper" _description="Close the gripper">
-    <Control ID="Sequence" name="root">
-      <Action ID="CreateStringMessage" data="Hello!!!"/>
-      <Action ID="CreateTimeMessage" time="{stamp}" sec="10" nanosec="5"/>
-      <Action ID="CreateHeaderMessage" frame_id="base_frame"/>
-      <Action ID="CreateJointStateMessage" name_="joint_1;joint_2;joint_3" velocity="0;0;0" position="0;0;0" effort="0;0;0" joint_state="{joint_state}"/>
-      <Action ID="UnpackJointStateMessage"/>
-      <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
-      <Action ID="CreateBoolMessage" data="1"/>
-      <Action ID="CreateStringMessage" data="This is a behavior test publisher"/>
-      <Action ID="PublishString" message="{string}" use_best_effort="false" topic="/chatter"/>
-    </Control>
-  </BehaviorTree>
+    <BehaviorTree ID="Close Gripper" _description="Close the gripper">
+        <Control ID="Sequence" name="root">
+            <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
+        </Control>
+    </BehaviorTree>
 </root>
diff --git a/src/picknik_ur_mujoco_config/config/config.yaml b/src/picknik_ur_mujoco_config/config/config.yaml
@@ -38,7 +38,6 @@ objectives:
     # This plugin will load the core MoveIt Pro Behaviors.
     # Add additional plugin loaders as needed.
     core:
-      - "moveit_studio::behaviors::ConverterBehaviorsLoader"
       - "moveit_studio::behaviors::CoreBehaviorsLoader"
       - "moveit_studio::behaviors::MTCCoreBehaviorsLoader"
       - "moveit_studio::behaviors::ServoBehaviorsLoader"