PickNikRobotics · JWhitleyWork · Apr 2, 2026
diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_-45.xml
@@ -4,16 +4,16 @@
   <BehaviorTree ID="Move To and Detect Tag -45" _description="">
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
         orientation_xyzw="0.92388;0;-0.382683;0"
         position_xyz="0.5;0.0;0.6"
       />
       <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Control ID="Fallback">
@@ -83,20 +83,20 @@
         pose="{detection_pose}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="grasp_link"
       />
       <Action
         ID="CalculatePoseOffset"
         destination_pose="{detection_pose}"
-        source_pose="{stamped_pose}"
+        source_pose="{pose_stamped}"
         source_to_destination_pose="{pose_diff}"
       />
       <Action ID="Script" code="dir_path := '45degree_runs/'" />

diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_0.xml
@@ -4,16 +4,16 @@
   <BehaviorTree ID="Move To and Detect Tag 0" _description="">
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
         orientation_xyzw="1;0;0;0"
         position_xyz="0.;0.0;0.6"
       />
       <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Control ID="Fallback">
@@ -83,20 +83,20 @@
         pose="{detection_pose}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="grasp_link"
       />
       <Action
         ID="CalculatePoseOffset"
         destination_pose="{detection_pose}"
-        source_pose="{stamped_pose}"
+        source_pose="{pose_stamped}"
         source_to_destination_pose="{pose_diff}"
       />
       <Action ID="Script" code="dir_path := '0degree_runs/'" />

diff --git a/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml b/src/april_tag_sim/objectives/move_to_and_detect_tag_45.xml
@@ -4,16 +4,16 @@
   <BehaviorTree ID="Move To and Detect Tag 45" _description="">
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
         orientation_xyzw="0.92388;0;0.382683;0"
         position_xyz="-0.6;0.0;0.6"
       />
       <Action ID="ResetPoseStampedVector" vector="{pose_stamped_vector}" />
       <Action
         ID="AddPoseStampedToVector"
-        input="{stamped_pose}"
+        input="{pose_stamped}"
         vector="{pose_stamped_vector}"
       />
       <Control ID="Fallback">
@@ -83,20 +83,20 @@
         pose="{detection_pose}"
       />
       <Action
-        ID="CreateStampedPose"
-        stamped_pose="{stamped_pose}"
+        ID="CreatePoseStamped"
+        pose_stamped="{pose_stamped}"
         reference_frame="{tag_name}"
       />
       <Action
         ID="TransformPoseFrame"
-        input_pose="{stamped_pose}"
-        output_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
+        output_pose="{pose_stamped}"
         target_frame_id="grasp_link"
       />
       <Action
         ID="CalculatePoseOffset"
         destination_pose="{detection_pose}"
-        source_pose="{stamped_pose}"
+        source_pose="{pose_stamped}"
         source_to_destination_pose="{pose_diff}"
       />
       <Action ID="Script" code="dir_path := '45degree_runs/'" />

diff --git a/src/dual_arm_sim/objectives/draw.xml b/src/dual_arm_sim/objectives/draw.xml
@@ -67,7 +67,7 @@
         <Metadata runnable="false" />
         <Metadata subcategory="Motion - Execute" />
       </MetadataFields>
-      <inout_port name="center" default="{stamped_pose}" />
+      <inout_port name="center" default="{pose_stamped}" />
       <inout_port name="controller_name" default="{controller_names}" />
       <inout_port
         name="execute_follow_joint_trajectory_action_name"

diff --git a/src/dual_arm_sim/objectives/writing_demo.xml b/src/dual_arm_sim/objectives/writing_demo.xml
@@ -16,9 +16,9 @@
         waypoint_name="Home"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{stamped_pose}"
+        pose_stamped="{pose_stamped}"
         orientation_xyzw="-0.7073883;0.7068252;0.0000327;0.0000328"
         position_xyz="0.4;0.0;0.02"
         name="Create center pose"
@@ -28,27 +28,27 @@
         marker_lifetime="0.000000"
         marker_name="pose"
         marker_size="0.100000"
-        pose="{stamped_pose}"
+        pose="{pose_stamped}"
       />
       <Decorator ID="Repeat" num_cycles="-1">
         <Control ID="Sequence" name="TopLevelSequence">
           <SubTree
             ID="Draw and Wipe"
             _collapsed="false"
             file_path="moveit_pro.yaml"
-            center="{stamped_pose}"
+            center="{pose_stamped}"
           />
           <SubTree
             ID="Draw and Wipe"
             _collapsed="true"
             file_path="loves.yaml"
-            center="{stamped_pose}"
+            center="{pose_stamped}"
           />
           <SubTree
             ID="Draw and Wipe"
             _collapsed="true"
             file_path="franka.yaml"
-            center="{stamped_pose}"
+            center="{pose_stamped}"
           />
         </Control>
       </Decorator>

diff --git a/src/factory_sim/objectives/add_bins_to_planning_scene.xml b/src/factory_sim/objectives/add_bins_to_planning_scene.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{world_frame}"
+        pose_stamped="{world_frame}"
         name="world frame"
       />
       <Action

diff --git a/src/factory_sim/objectives/drop_bracket_part_in_right_bin_subtree.xml b/src/factory_sim/objectives/drop_bracket_part_in_right_bin_subtree.xml
@@ -11,9 +11,9 @@
     <Control ID="Sequence" name="Move to the right bin to drop">
       <!--The drop pose is at a 5 degree tilt so it doesn't drop straight into the bin or on top of another part. Simulator instabilities can cause parts to jump when dropped perfectly flat.-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{drop_pose}"
+        pose_stamped="{drop_pose}"
         orientation_xyzw="-0.706; -0.706; -0.031; -0.031"
         position_xyz="0.23;0.54;0.65"
       />

diff --git a/src/factory_sim/objectives/drop_bracket_part_on_jig_subtree.xml b/src/factory_sim/objectives/drop_bracket_part_on_jig_subtree.xml
@@ -11,9 +11,9 @@
     >
       <!--The drop pose is just above two tapered posts representing a tooling jib that match alignment holes in the bracket part. The part is then released and settles onto those jig posts.-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="jig_post1"
-        stamped_pose="{drop_pose}"
+        pose_stamped="{drop_pose}"
         orientation_xyzw="1.000; 0.000; 0.000; 0.000"
         position_xyz="0.012;-0.01;0.16"
       />

diff --git a/src/factory_sim/objectives/indicate_jig_empty.xml b/src/factory_sim/objectives/indicate_jig_empty.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{signal_light_pose}"
+        pose_stamped="{signal_light_pose}"
         position_xyz="-0.1;-1;0.2"
         name="Locate bracket jig state indicator"
       />
@@ -21,10 +21,10 @@
         name="Indicate there is no bracket in jig"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="-0.1;-1;0.6"
-        stamped_pose="{jig_state_pose}"
+        pose_stamped="{jig_state_pose}"
       />
       <Action
         ID="VisualizePose"

diff --git a/src/factory_sim/objectives/indicate_jig_working.xml b/src/factory_sim/objectives/indicate_jig_working.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{signal_light_pose}"
+        pose_stamped="{signal_light_pose}"
         position_xyz="-0.1;-1;0.2"
         name="Locate bracket jig state indicator"
       />
@@ -21,10 +21,10 @@
         name="Indicate there is no bracket in jig"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="-0.1;-1;0.6"
-        stamped_pose="{jig_state_pose}"
+        pose_stamped="{jig_state_pose}"
       />
       <Action
         ID="VisualizePose"

diff --git a/src/factory_sim/objectives/indicate_part_ready.xml b/src/factory_sim/objectives/indicate_part_ready.xml
@@ -7,9 +7,9 @@
   >
     <Control ID="Sequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
-        stamped_pose="{signal_light_pose}"
+        pose_stamped="{signal_light_pose}"
         position_xyz="-0.1;-1;0.2"
         name="Locate bracket jig state indicator"
       />
@@ -21,10 +21,10 @@
         name="Indicate there is no bracket in jig"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="world"
         position_xyz="-0.1;-1;0.6"
-        stamped_pose="{jig_state_pose}"
+        pose_stamped="{jig_state_pose}"
       />
       <Action
         ID="VisualizePose"

diff --git a/src/factory_sim/objectives/look_for_bracket_part_subtree.xml b/src/factory_sim/objectives/look_for_bracket_part_subtree.xml
@@ -11,11 +11,11 @@
     >
       <!--Get the bracket pointcloud from the CAD file and make a guess as to where it might be-->
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         position_xyz="-0.35;0.8;0.4"
         orientation_xyzw="0.000;0.000;0.0;1"
         name="Initial guess for bracket pose, somewhere above left bin"
-        stamped_pose="{guess_pose}"
+        pose_stamped="{guess_pose}"
         reference_frame="world"
       />
       <SubTree
@@ -60,9 +60,9 @@
         name="Crop out points belonging to the bin by making a box that approximates the bin internal volume"
       >
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{centroid_pose}"
+          pose_stamped="{centroid_pose}"
           position_xyz="-0.25;0.6;0.4"
         />
         <Action

diff --git a/src/factory_sim/objectives/pick_bracket_part_from_jig_subtree.xml b/src/factory_sim/objectives/pick_bracket_part_from_jig_subtree.xml
@@ -27,9 +27,9 @@
         />
         <SubTree ID="Activate Vacuum" _collapsed="true" />
         <Action
-          ID="CreateStampedPose"
+          ID="CreatePoseStamped"
           reference_frame="world"
-          stamped_pose="{bracket_on_jig}"
+          pose_stamped="{bracket_on_jig}"
           orientation_xyzw="0.000; 0.000; 1.000; 0.000"
           position_xyz="-0.319; -0.483; 0.225"
         />

diff --git a/src/factory_sim/objectives/pick_brackets_from_left_bin.xml b/src/factory_sim/objectives/pick_brackets_from_left_bin.xml
@@ -39,11 +39,11 @@
             <!--Get the bracket pointcloud from the CAD file and make a guess as to where it might be-->
             <Action ID="ClearSnapshot" />
             <Action
-              ID="CreateStampedPose"
+              ID="CreatePoseStamped"
               position_xyz="-0.35;0.8;0.4"
               orientation_xyzw="0.000;0.000;0.0;1"
               name="Initial guess for bracket pose, somewhere above left bin"
-              stamped_pose="{guess_pose}"
+              pose_stamped="{guess_pose}"
               reference_frame="world"
             />
             <SubTree
@@ -87,9 +87,9 @@
               name="Crop out points belonging to the bin by making a box that approximates the bin internal volume"
             >
               <Action
-                ID="CreateStampedPose"
+                ID="CreatePoseStamped"
                 reference_frame="world"
-                stamped_pose="{centroid_pose}"
+                pose_stamped="{centroid_pose}"
                 position_xyz="-0.25;0.6;0.4"
               />
               <Action

diff --git a/src/factory_sim/objectives/pick_up_tool_from_holder.xml b/src/factory_sim/objectives/pick_up_tool_from_holder.xml
@@ -13,10 +13,10 @@
         timeout="10"
       />
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="{tool_attach_site}"
         position_xyz="0;0;-0.1"
-        stamped_pose="{approach_pose}"
+        pose_stamped="{approach_pose}"
       />
       <Action
         ID="InitializeMTCTask"

diff --git a/src/factory_sim/objectives/place_tool_in_tool_holder.xml b/src/factory_sim/objectives/place_tool_in_tool_holder.xml
@@ -7,10 +7,10 @@
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
-        ID="CreateStampedPose"
+        ID="CreatePoseStamped"
         reference_frame="{tool_return_site}"
         position_xyz="0;0;-0.15"
-        stamped_pose="{approach_pose}"
+        pose_stamped="{approach_pose}"
       />
       <Action
         ID="InitializeMTCTask"