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Replace use of ForEachCollisionObject with ForEachGraspableObject #74

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Jul 27, 2023
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Replace use of ForEachCollisionObject with ForEachGraspableObject #74

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4 changes: 2 additions & 2 deletions src/picknik_ur_site_config/objectives/looping_pick_and_place_object.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,10 +34,10 @@
<!-- Detect all cuboids in that point cloud-->
<Action ID="FindSingularCuboids" point_cloud="{point_cloud}" parameters="{parameters}" detected_shapes="{cuboids}"/>

<!-- Get the first detected cuboid. NOTE: this is a small hack to get ForEachCollisionObject to iterate just once, which returns the first object in the vector. -->
<!-- Get the first detected cuboid. NOTE: this is a small hack to get ForEachGraspableObject to iterate just once, which returns the first object in the vector. -->
<Control ID="Sequence">
<Decorator ID="ForceSuccess">
<Decorator ID="ForEachCollisionObject" vector_in="{cuboids}" out="{cuboid_object}">
<Decorator ID="ForEachGraspableObject" vector_in="{cuboids}" out="{cuboid_object}">
<Control ID="Sequence">
<Action ID="AlwaysFailure"/>
</Control>
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