Merge pull request #359 from PickNikRobotics/subtree-only

add subtree_only to a couple of objectives
PickNikRobotics · Sep 3, 2024 · b9a6bb4 · b9a6bb4
2 parents a44106e + 02d91a5
commit b9a6bb4
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diff --git a/src/mobile_manipulation_config/objectives/estimate_object_pose.xml b/src/mobile_manipulation_config/objectives/estimate_object_pose.xml
@@ -6,6 +6,7 @@
     _description="Estimate an object pose from a reference mesh file using ICP on live point cloud data."
     _favorite="false"
     _hardcoded="false"
+    _subtreeOnly="true"
   >
     <Control ID="Sequence">
       <Action

diff --git a/src/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml b/src/mobile_manipulation_config/objectives/move_to_a_stampedpose.xml
@@ -3,6 +3,7 @@
   <BehaviorTree
     ID="Move to a StampedPose"
     _description="Uses inverse kinematics to move the robot tip to a given pose"
+    _subtreeOnly="true"
   >
     <Control ID="Fallback" name="root">
       <Control ID="Sequence">