Brettpac branch

smacc2_dev_tools/claude/Prompts.md

@@ -62,3 +62,7 @@ StMoveCartesianRelative2
 StMoveCartesianRelative
 StPouringMotion
 StCircularPivotMotion
+
+ look in the log files (~/.ros/log) for the most recent state machine run.
+  Analyse the move_group, state machine, and other logs and creat a plan to
+  fix the error messages that are occuring in StMoveCartesianRelative2

smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_cartesian_relative2.hpp

@@ -59,7 +59,7 @@ struct StMoveCartesianRelative2 : smacc2::SmaccState<StMoveCartesianRelative2, S
     position.x = -0.25;  // Increased to 25cm for dramatic movement
     position.y = 0.0;
     position.z = 0.20;   // Increased to 20cm for dramatic movement
-    configure_orthogonal<OrArm, CbMoveCartesianRelative2>("tool0", "tool0", position);
+    configure_orthogonal<OrArm, CbMoveCartesianRelative2>("world", "panda_link8", position);
     configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
   }