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Backport of Remove unused hand property from MTC tutorial (#420) to humble #722

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merged 1 commit into from
Jul 30, 2023
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Backport of Remove unused hand property from MTC tutorial (#420) to humble #722

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8 changes: 4 additions & 4 deletions doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,10 +149,10 @@ mtc::Task MTCTaskNode::createTask()
// In fact, `task` itself is a SerialContainer by default.
{
auto grasp = std::make_unique<mtc::SerialContainer>("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

{
Expand Down Expand Up @@ -268,10 +268,10 @@ mtc::Task MTCTaskNode::createTask()

{
auto place = std::make_unique<mtc::SerialContainer>("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

/****************************************************
Expand Down