From 9db820604224b8f47220cec0ff3b4d9e6805c475 Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Mon, 6 Jun 2022 17:09:36 -0400 Subject: [PATCH] Remove unused hand property from MTC tutorial (#420) Co-authored-by: AndyZe (cherry picked from commit f21b044ed0e18945d402b34357931a95a777e806) --- .../src/mtc_node.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp index 1cc5101a4b..95d542bb85 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp @@ -149,10 +149,10 @@ mtc::Task MTCTaskNode::createTask() // In fact, `task` itself is a SerialContainer by default. { auto grasp = std::make_unique("pick object"); - task.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" }); + task.properties().exposeTo(grasp->properties(), { "eef", "group", "ik_frame" }); // clang-format off grasp->properties().configureInitFrom(mtc::Stage::PARENT, - { "eef", "hand", "group", "ik_frame" }); + { "eef", "group", "ik_frame" }); // clang-format on { @@ -268,10 +268,10 @@ mtc::Task MTCTaskNode::createTask() { auto place = std::make_unique("place object"); - task.properties().exposeTo(place->properties(), { "eef", "hand", "group", "ik_frame" }); + task.properties().exposeTo(place->properties(), { "eef", "group", "ik_frame" }); // clang-format off place->properties().configureInitFrom(mtc::Stage::PARENT, - { "eef", "hand", "group", "ik_frame" }); + { "eef", "group", "ik_frame" }); // clang-format on /****************************************************