Remove out of band Abort being triggered by blackboard

Author: Timothy-Morris

task_trees/behaviours_base.py

@@ -235,9 +235,6 @@ def update(self):
             return Status.SUCCESS
         elif self.commander_state == GeneralCommanderStates.ABORTED:
             logger.error(f'ConditionalCommanderBehaviour handles task aborted')
-            if self.the_blackboard.exists('task'):
-                self.the_blackboard.set('task.state', TaskStates.ABORTED)        
-            self.tidy_up()
             return Status.FAILURE
         elif self.commander_state == GeneralCommanderStates.ERROR:
             logger.error(f'ConditionalCommanderBehaviour handles task error')
@@ -535,4 +532,4 @@ def update_when_ready(self):
             self.post_fn()
         if self.to_remove:
             self.arm_commander.remove_object(self.object_name)
-        return Status.SUCCESS
+        return Status.SUCCESS

task_trees/task_trees_manager.py

@@ -322,6 +322,7 @@ def _define_named_poses(self, the_scene:Scene):
         """
         named_poses = the_scene.get_named_poses_of_root_as_dict()
         for name in named_poses:
+            print(f'named_pose {name}: {named_poses[name]}')
             self.arm_commander.add_named_pose(name, named_poses[name])
 
     def _define_links(self, the_scene:Scene, link_type=None, include_list:list=None, ignore_list:list=None):