From d0e72a7a3aae0236aad1874044753dc06415318b Mon Sep 17 00:00:00 2001
From: Devanshu Sharma <devanshu@blackcoffeerobotics.com>
Date: Wed, 19 Aug 2026 17:14:50 +0530
Subject: [PATCH] fix: correct malformed quaternion literal in Kinova Move
 Along Path Objectives

The `w` component of `orientation_xyzw` was written as `.0.0` instead of
`0.0` at 12 sites across three Objectives:

  kinova_sim/objectives/move_along_path.xml
  kinova_sim/objectives/move_along_path_admittance.xml
  kinova_gen3_base_config/objectives/move_along_path.xml

In 10.0 `CreatePoseStamped`'s `orientation_xyzw` port is typed as
`geometry_msgs::msg::Quaternion` rather than `vector<double>`, so the
value now fails to parse and the Objectives cannot be loaded at all:

  Failed to create Behavior Tree for Objective `Move Along Path Admittance`.
  The port with name "orientation_xyzw" and value "0.707;0.707;0.0;.0.0"
  can not be converted to geometry_msgs::msg::Quaternion_

Note `kinova_gen3_base_config` is the hardware-facing config, so this
affects the real arm as well as sim.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
---
 .../objectives/move_along_path.xml                        | 8 ++++----
 .../kinova_sim/objectives/move_along_path.xml             | 8 ++++----
 .../kinova_sim/objectives/move_along_path_admittance.xml  | 8 ++++----
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
index f61e934fd..5e279db30 100644
--- a/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
+++ b/src/moveit_pro_kinova_configs/kinova_gen3_base_config/objectives/move_along_path.xml
@@ -17,7 +17,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action ID="ResetVector" vector="{pose_stamped_vector}" />
@@ -31,7 +31,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
@@ -44,7 +44,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
@@ -57,7 +57,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
index 15b1dac20..4ff4f6778 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path.xml
@@ -22,7 +22,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action ID="ResetVector" vector="{pose_stamped_vector}" />
@@ -36,7 +36,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
@@ -49,7 +49,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
@@ -62,7 +62,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
index 15cdf787d..c4b08271e 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/objectives/move_along_path_admittance.xml
@@ -17,7 +17,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action ID="ResetVector" vector="{pose_stamped_vector}" />
@@ -31,7 +31,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
@@ -44,7 +44,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.5;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action
@@ -57,7 +57,7 @@
           ID="CreatePoseStamped"
           reference_frame="base_link"
           position_xyz="0.3;-0.1;0.5"
-          orientation_xyzw="0.707;0.707;0.0;.0.0"
+          orientation_xyzw="0.707;0.707;0.0;0.0"
           pose_stamped="{pose_stamped}"
         />
         <Action